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fix(mjcf): propagate fixed-base root body pos/quat and inertia - #2934

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fix(mjcf): propagate fixed-base root body pos/quat and inertia#2934
isaka1022 wants to merge 2 commits into
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isaka1022:fix/mjcf-fixed-base-root-placement

fix(mjcf): place jointless body sites in their supporting joint

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