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Add option to only sync the state to improve sync performance in passive mode.

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By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.

PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
This commit is contained in:
Matija Kecman
2025-06-27 02:48:58 -07:00
committed by Copybara-Service
parent 8f6a13aa8f
commit 09f7154e57
6 changed files with 50 additions and 29 deletions
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doc/changelog.rst
+2
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@@ -15,6 +15,8 @@ General
^^^^^^^
- Added support for setting the initial camera in the viewer using
:ref:`visual/global/cameraid<visual-global-cameraid>`.
- Added support to only sync the state in the Python :ref:`passive viewer<PyViewerPassive>`'s ``Sync`` method, this is
useful to improve performance. The default behavior is unchanged and copies the entire model and data.
Bug fixes
^^^^^^^^^