Add model.xml fallback search path to mjz decoder

PiperOrigin-RevId: 949690037 Change-Id: I93978c1f9ded12c69ffe321fe1f85721db32f555
2026-07-17 12:02:03 -07:00
parent e3293a5f29
commit ebd4abae03
2 changed files with 24 additions and 10 deletions
@@ -72,6 +72,7 @@ General
  integrator and flex stiffness present; Newton and PGS are unaffected. Bending-only models pay zero per-step
  factorization cost (the factor is precomputed in :ref:`mj_setConst<mj_setConst>`). Inverse dynamics
  (:ref:`mj_inverse<mj_inverse>`) is now discrete-consistent with forward dynamics for gated models.
+- The ``mjz`` decoder now searches for ``model.xml`` at the root of the archive as a fallback if the archive-named XML is not found.

 .. admonition:: Breaking API changes
   :class: attention