Add body/simple attribute to control simple body optimization.

PiperOrigin-RevId: 942164766 Change-Id: I1e83bb99b6a1955917eb9b2e9bed0dc7b8e6a161
2026-07-03 09:08:42 -07:00
parent 4ecfe5c1f3
commit 5618666a7d
19 changed files with 205 additions and 10 deletions
@@ -12,6 +12,8 @@ General
 - :ref:`mj_encode` now supports encoding of MJB and TXT files.
 - :ref:`mj_setConst` now recomputes the ``mjModel.{body,geom,site}_sameframe`` flags, to account for changes in
  body/geom/site frames after compilation.
+- Added :ref:`body/simple<body-simple>` attribute ("false"/"auto") to disable the *simple body* mass matrix
+  optimization. This is useful for domain randomization, where model parameters may change post-compilation.
 - 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`.