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Include reference to the State API in the mujoco-py migration guide.

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PiperOrigin-RevId: 809349546
Change-Id: I4d48223962e6b89e3844c779e9499932c7b72945
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Tom Erez
2025-09-20 01:19:16 -07:00
committed by Copybara-Service
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@@ -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)`` ``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 The MuJoCo library’s computation is deterministic given a specific input, as explained in the :ref:`Programming
section <Simulation>`. mujoco-py implements methods for getting and setting some of the relevant fields (and section <Simulation>`. 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 similarly ``dm_control.Physics`` offers methods that correspond to the flattened case). This functionality is
abstraction, and the user is expected to get/set the values of the relevant fields explicitly. described in the :ref:`state <geState>` section.
``sim.model.get_joint_qvel_addr(joint_name)`` ``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 This is a convenience method in mujoco-py that returns a list of contiguous indices corresponding to this joint. The