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Clarification regarding saving integration state variables.

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Fix some documentation bugs.

PiperOrigin-RevId: 487492900
Change-Id: I16ab9ae82cf203ebeaca10baaba7319d214202d0
This commit is contained in:
Yuval Tassa
2022-11-10 03:51:25 -08:00
committed by Copybara-Service
parent f2bae1ffe3
commit 0b45129ca4
3 changed files with 10 additions and 5 deletions
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doc/changelog.rst
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@@ -30,7 +30,7 @@ General
- Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
- Renamed the ``cable`` plugin library to ``elasticity``.
- Added :ref:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
- Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
activation dynamics to
`engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.