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Add viewer.launch_passive and mjpython to the changelog.

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PiperOrigin-RevId: 517458183
Change-Id: Idaa39fed2ab9d4a82b92b7a1a1cefb80b5b36fcf
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Saran Tunyasuvunakool
2023-03-17 11:08:49 -07:00
committed by Copybara-Service
parent 7bff68dac8
commit 7a0def9791
1 changed files with 6 additions and 1 deletions
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doc/changelog.rst
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@@ -53,8 +53,13 @@ General
Python bindings
^^^^^^^^^^^^^^^
- Fixed IPython history corruption when using ``launch_repl``. The ``launch_repl`` function now provides seamless
- Fixed IPython history corruption when using ``viewer.launch_repl``. The ``launch_repl`` function now provides seamless
continuation of an IPython interactive shell session, and is no longer considered experimental feature.
- Added ``viewer.launch_passive`` which launches the interactive viewer in a passive, non-blocking mode. Calls to
``launch_passive`` return immediately, allowing user code to continue execution, with the viewer automatically
reflecting any changes to the physics state. (Note that this functionality is currently in experimental/beta stage,
and is not yet described in our :ref:`viewer documentation<PyViewer>`.)
- Added the ``mjpython`` launcher for macOS, which is required for ``viewer.launch_passive`` to function there.
- Removed ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic
sizes that change between time steps depending on the number of active constraints, breaking strict correspondence
between joints and ``efc_`` rows.