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Allow self-attach in MJCF

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PiperOrigin-RevId: 941676717
Change-Id: I9ff8fc89716bc14b438a41e2b4075bbe5fdb83cf
This commit is contained in:
Yuval Tassa
2026-07-02 06:51:04 -07:00
committed by Copybara-Service
parent cdc35dec38
commit 2d283b5e9d
4 changed files with 178 additions and 37 deletions
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doc/changelog.rst
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@@ -9,8 +9,10 @@ General
^^^^^^^
- Added Nesterov momentum extrapolation with adaptive gradient restart (O'Donoghue-Candès) to the PGS solver,
significantly improving convergence. Overall PGS now requires ~2x fewer iterations.
* :ref:`mj_encode` now supports encoding of MJB and TXT files.
- :ref:`mj_encode` now supports encoding of MJB and TXT files.
- The :el:`attach` element now supports self-attachment (attaching elements of the current model to itself) by omitting
the :at:`model` attribute. It also supports attaching a frame via the new :at:`frame` attribute, which is mutually
exclusive with :at:`body`.
.. admonition:: Breaking API changes
:class: attention