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Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.

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- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
This commit is contained in:
Yuval Tassa
2024-07-30 08:40:55 -07:00
committed by Copybara-Service
parent 123a01bd83
commit 24a555062d
13 changed files with 48 additions and 23 deletions
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doc/changelog.rst
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@@ -8,7 +8,8 @@ Upcoming version (not yet released)
General
^^^^^^^
1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
2. Added a new :ref:`autoreset<option-flag-autoreset>` flag to disable automatic reset when NaNs or infinities are
detected.
3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't
support these new features, and they are made available for use with external renderers.