Allow flex sleeping

PiperOrigin-RevId: 917817500 Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
2026-05-19 07:14:45 -07:00
parent ddc4c54d16
commit f712eed4ce
21 changed files with 660 additions and 57 deletions
@@ -291,8 +291,13 @@ static void setFixed(mjModel* m, mjData* d) {
    }
  }

-  // flexes: trees containing bodies that are part of any flex are not allowed to sleep
+  // flexes: constraint-free trees are not allowed to sleep
  for (int i = 0; i < m->nflex; ++i) {
+    // constrained flexes are allowed to sleep
+    if (m->flex_edgeequality[i]) {
+      continue;
+    }
+
    // node-based flex
    if (m->flex_interp[i]) {
      int nodenum = m->flex_nodenum[i];