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Update Programming/simulation chapter.

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PiperOrigin-RevId: 847424298
Change-Id: Icc6efb05dee5e67a5813ed04caa15a5703e59aee
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Yuval Tassa
2025-12-21 08:15:49 -08:00
committed by Copybara-Service
parent b8a4ac5d48
commit b77977a962
7 changed files with 273 additions and 278 deletions
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doc/changelog.rst
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@@ -29,6 +29,14 @@ MJX
^^^
- Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
Documentation
^^^^^^^^^^^^^
- General improvements to the :ref:`Programming/Simulation<Simulation>` chapter. Notably, the main discussion of
:ref:`state<siStateControl>` has been moved there, and the section on :ref:`mjModel changes<siChange>` has been
expanded.
Bug fixes
^^^^^^^^^
@@ -1081,8 +1089,8 @@ Python bindings
12. Improved the implementation of the :ref:`rollout<PyRollout>` module. Note the changes below are breaking, dependent
code will require modification.
- Uses :ref:`mjSTATE_FULLPHYSICS<geFullPhysics>` as state spec, enabling divergence detection by inspecting time.
- Allows user-defined control spec for any combination of :ref:`user input<geInput>` fields as controls.
- Uses :ref:`mjSTATE_FULLPHYSICS<siFullPhysics>` as state spec, enabling divergence detection by inspecting time.
- Allows user-defined control spec for any combination of :ref:`user input<siInput>` fields as controls.
- Outputs are no longer squeezed and always have dim=3.
13. The ``sync`` function for the :ref:`passive viewer<PyViewerPassive>` can now pick up changes to rendering flags in
``user_scn``, as requested in :issue:`1190`.