From 2bbf5424e4010d82f2755bc4abe63402822d9c7e Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 5 Feb 2024 03:25:48 -0800
Subject: [PATCH] Improve `option/actuatorgroupdisable` documentation.

PiperOrigin-RevId: 604266156
Change-Id: I7fd112085fc46214173628db8ebfd295e13df342
---
 doc/XMLreference.rst | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 3e8d0d03..06a7b0ee 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -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: