teerthsharma bc32db7f25 Cache island topology data ...

Store island topology in `mjData` so repeated island solves can reuse stable connect/weld equality partitions. Add cache invalidation checks for active equality changes and cover the fast path with an island regression test.

Signed-off-by: teerthsharma <teerths57@gmail.com>

2026-07-20 22:27:42 +05:30

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mujoco

Cache island topology data

2026-07-20 22:27:42 +05:30