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Allow flex sleeping

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PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
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Yuval Tassa
2026-05-19 07:14:45 -07:00
committed by Copybara-Service
parent ddc4c54d16
commit f712eed4ce
21 changed files with 660 additions and 57 deletions
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doc/XMLreference.rst
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@@ -2113,7 +2113,7 @@ defined. Its body name is automatically defined as "world".
- Trees which are connected by tendons which have non-zero stiffness and damping are not allowed to sleep
(overridable).
- Trees which are connected by tendons which connect more than two trees are not allowed to sleep (not overridable).
- :ref:`flexes<ElemFlex>` are not allowed to sleep (not overridable).
- Constraint-free :ref:`flexes<ElemFlex>` are not allowed to sleep (not overridable).
- All other trees are allowed to sleep (overridable).
The policies :at-val:`never` and :at-val:`allowed` constitute user overrides of the automatic compiler policy.