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Improve option/actuatorgroupdisable documentation.

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PiperOrigin-RevId: 604266156
Change-Id: I7fd112085fc46214173628db8ebfd295e13df342
This commit is contained in:
Yuval Tassa
2024-02-05 03:25:48 -08:00
committed by Copybara-Service
parent ced37ffbb2
commit 2bbf5424e4
1 changed files with 9 additions and 2 deletions
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doc/XMLreference.rst
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@@ -1973,12 +1973,19 @@ adjust it properly through the XML.
:at:`sdf_initpoints`: :at-val:`int, "40"`
Number of starting points used for finding contacts with Signed Distance Field collisions.
.. youtube:: H9qG9Zf2W44
:align: right
:width: 240px
.. _option-actuatorgroupdisable:
:at:`actuatorgroupdisable`: :at-val:`int(30), ""`
:at:`actuatorgroupdisable`: :at-val:`int(31), optional`
List of actuator groups to disable. Actuators whose :ref:`group<actuator-general-group>` is in this list will produce
no force. If they are stateful, their activation states will not be integrated. Internally this list is
implemented as an integer bitfield, so values must be in the range ``0 <= group <= 30``.
implemented as an integer bitfield, so values must be in the range ``0 <= group <= 30``. If not set, all actuator
groups are enabled. See `example model
<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
and associated screen-capture on the right.
.. _option-flag: