Fix segfault in FuseStatic when body contains cameras or lights#3080
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kevinzakka wants to merge 1 commit intogoogle-deepmind:mainfrom
Open
Fix segfault in FuseStatic when body contains cameras or lights#3080kevinzakka wants to merge 1 commit intogoogle-deepmind:mainfrom
kevinzakka wants to merge 1 commit intogoogle-deepmind:mainfrom
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FuseStatic deletes static (joint-less) bodies and reassigns their children to the parent body. Geoms and sites were reassigned, but cameras and lights were not, leaving dangling body pointers that crash in mjCCamera::Compile() / mjCLight::Compile(). Add camera and light reassignment in FuseStatic and FuseReindex.
quagla
approved these changes
Feb 10, 2026
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FuseStatic deletes static (joint-less) bodies and reassigns their children to the parent body. Geoms and sites were reassigned, but cameras and lights were not, leaving dangling body pointers that crash in mjCCamera::Compile() / mjCLight::Compile().
Add camera and light reassignment in FuseStatic and FuseReindex.