Add update_{hfield,mesh,texture} methods to the passive viewer.

Fixes #812.
Fixes #958.
Fixes #965.

PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba

doc/changelog.rst

@@ -15,6 +15,14 @@ General
   "from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
 - Bump oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
 
+Python bindings
+^^^^^^^^^^^^^^^
+
+- The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
+  ``update_texture`` methods to allow users to update renderable assets.
+  (`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
+  `#965 <https://github.com/deepmind/mujoco/issues/965>`_)
+
 
 Version 2.3.6 (June 20, 2023)
 -----------------------------

doc/python.rst

@@ -113,6 +113,12 @@ attributes:
   also transfers user inputs from the GUI back into ``mjOption`` (inside ``mjModel``) and ``mjData``, including
   enable/disable flags, control inputs, and mouse perturbations.
 
+- ``update_hfield(hfieldid)``: updates the height field data at the specified ``hfieldid`` for subsequent renderings.
+
+- ``update_mesh(meshid)``: updates the mesh data at the specified ``meshid`` for subsequent renderings.
+
+- ``update_texture(texid)``: updates the texture data at the specified ``texid`` for subsequent renderings.
+
 - ``close()``: programmatically closes the viewer window. This method can be safely called without locking.
 
 - ``is_running()``: returns ``True`` if the viewer window is running and ``False`` if it is closed.