chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Documentation bug fixes.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+4 -4
View File
@@ -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