Fix gravcomp being ignored for movable bodies without joints. Fixes #3066

PiperOrigin-RevId: 867679545 Change-Id: I8c16d3a4c93d121fcc30cab5179ba44fe49aaa19
2026-02-09 10:54:07 -08:00
parent b637d7eb76
commit c1b3b3063e
3 changed files with 37 additions and 27 deletions
@@ -123,6 +123,8 @@ Bug fixes
  available cores.
 - The ``vertid`` argument of :ref:`mj_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now
  nullable.
+- Fixed :ref:`gravcomp<body-gravcomp>` being ignored for bodies with no joints nested inside jointed parent bodies
+  (:issue:`3066`, reported by :github:user:`Alex108306`).

 Version 3.4.0 (December 5, 2025)
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