Make PGS solver constraint visitation order time-independent.

PiperOrigin-RevId: 914741347 Change-Id: I7889a42543e9a9f3ff883e25ee9eafaceedc29e1
2026-05-13 02:33:50 -07:00
parent 99e626096f
commit 7bfdbad80b
2 changed files with 7 additions and 6 deletions
@@ -5,6 +5,12 @@ Changelog
 Upcoming version (not yet released)
 -----------------------------------

+General
+^^^^^^^
+- The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
+  release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet
+  undesirable time dependence.
+
 .. admonition:: Breaking API changes
   :class: attention