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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/changelog.rst
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@@ -16,6 +16,7 @@ General
- The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet
undesirable time dependence.
- Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes.
.. admonition:: Breaking API changes
:class: attention