From 0141c6b8b7cae97fdc802938409b9ed5c9ba009c Mon Sep 17 00:00:00 2001 From: Tom Erez Date: Sat, 20 Sep 2025 01:19:16 -0700 Subject: [PATCH] Include reference to the State API in the mujoco-py migration guide. PiperOrigin-RevId: 809349546 Change-Id: I4d48223962e6b89e3844c779e9499932c7b72945 --- doc/python.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/python.rst b/doc/python.rst index 6409c767..16a39431 100644 --- a/doc/python.rst +++ b/doc/python.rst @@ -1072,8 +1072,8 @@ non-exhaustive list of specific mujoco-py features: ``sim.get_state()``, ``sim.set_state(state)``, ``sim.get_flattened_state()``, ``sim.set_state_from_flattened(state)`` The MuJoCo library’s computation is deterministic given a specific input, as explained in the :ref:`Programming section `. mujoco-py implements methods for getting and setting some of the relevant fields (and - similarly ``dm_control.Physics`` offers methods that correspond to the flattened case). ``mujoco`` do not offer such - abstraction, and the user is expected to get/set the values of the relevant fields explicitly. + similarly ``dm_control.Physics`` offers methods that correspond to the flattened case). This functionality is + described in the :ref:`state ` section. ``sim.model.get_joint_qvel_addr(joint_name)`` This is a convenience method in mujoco-py that returns a list of contiguous indices corresponding to this joint. The