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Documentation bug fixes.

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PiperOrigin-RevId: 801283863
Change-Id: I85bb11f4970bd6206f99a91cee04c2b99f73c576
This commit is contained in:
Yuval Tassa
2025-08-30 11:02:52 -07:00
committed by Copybara-Service
parent b092563cab
commit 5d598a49a2
2 changed files with 7 additions and 11 deletions
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doc/XMLreference.rst
+3 -7
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@@ -526,20 +526,16 @@ from its default.
.. _option-flag-spring:
:at:`spring`: :at-val:`[disable, enable], "enable"`
This flag disables passive joint and tendon springs. If passive :ref:`damper <option-flag-damper>` forces are
also disabled, *all* passive forces are disabled, including gravity compensation, fluid forces, forces computed by
also disabled, **all** passive forces are disabled, including gravity compensation, fluid forces, forces computed by
the :ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
:ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
, fluid dynamics forces, and custom passive
forces computed by the :ref:`mjcb_passive` callback. As a result, no passive forces are applied.
.. _option-flag-damper:
:at:`damping`: :at-val:`[disable, enable], "enable"`
This flag disables passive joint and tendon dampers. If passive :ref:`spring <option-flag-spring>` forces are also
disabled, *all* passive forces are disabled, including gravity compensation, fluid forces, forces computed by the
disabled, **all** passive forces are disabled, including gravity compensation, fluid forces, forces computed by the
:ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
:ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
@@ -623,7 +619,7 @@ from its default.
.. _option-flag-override:
:at:`override`: :at-val:`[disable, enable], "disable"`
This flag enables to :ref:`Contact override <COverride>` mechanism explained above.
This flag enables the :ref:`Contact override <COverride>` mechanism.
.. _option-flag-energy:
doc/changelog.rst
+4 -4
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@@ -37,11 +37,11 @@ General
- The ``mjDSBL_PASSIVE`` flag for disabling passive forces was removed and replaced by
:ref:`mjDSBL_SPRING<mjtDisableBit>` and :ref:`mjDSBL_DAMPER<mjtDisableBit>` with corresponding
:ref:`mjcf<option-flag-spring>` :ref:`attributes<option-flag-damper>`. Each flag disables only joint and tendon
springs or dampers, respectively. When both flags are set, *all* passive forces are disabled, including gravity
springs or dampers, respectively. When both flags are set, **all** passive forces are disabled, including gravity
compensation, fluid forces, forces computed by the :ref:`mjcb_passive` callback, and forces computed by
:ref:`plugins <exPlugin>` when passed the :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag. Setting
both flags recovers the behavior of the previous flag and is the migration path for existing code using
``mjDSBL_PASSIVE``.
:ref:`plugins <exPlugin>` when passed the :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
**Migration:** Set both flags to recover the behavior of the previous flag.
.. admonition:: Breaking ABI changes