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Replace mjs_detachBody and mjs_detachDefault with mjs_detach.

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In a follow-up, mjs_detach will be changed to only remove without deleting an element.

PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
This commit is contained in:
Alessio Quaglino
2025-06-20 04:11:14 -07:00
committed by Copybara-Service
parent 4ce6293217
commit 0488d9f4eb
15 changed files with 177 additions and 179 deletions
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doc/changelog.rst
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@@ -5,6 +5,13 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
.. admonition:: Breaking API changes
:class: attention
- The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`. Additionally,
`:ref:mjs_detach` was added in order to remove an element from the spec without deleting it.
- The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.
Bug fixes
^^^^^^^^^
- Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,