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Allow to fusestatic a body if it doesn't generate a referencing error.

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PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
This commit is contained in:
Alessio Quaglino
2025-06-09 10:04:47 -07:00
committed by Copybara-Service
parent f75772587a
commit b8768aa1cd
7 changed files with 242 additions and 73 deletions
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doc/changelog.rst
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@@ -18,6 +18,8 @@ General
introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
- Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
- Removed the limitation of :ref:`fusestatic<compiler-fusestatic>` to models which contain no references. The fusestatic
flag will now fuse all bodies which are not referenced and ignore bodies which are referenced.
Simulate
^^^^^^^^