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Make "acc" the default computation stage for sensors of type user.

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PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
This commit is contained in:
Yuval Tassa
2022-12-03 07:49:27 -08:00
committed by Copybara-Service
parent 66cb7d611b
commit dee1d6020a
4 changed files with 26 additions and 5 deletions
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doc/changelog.rst
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@@ -69,8 +69,9 @@ General
register one or more MuJoCo plugins on load.
- Add an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows
custom plugin visualizations. Enable stree visualization for the Cable plugin as an example.
- Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype` and :at:`objname`. If unspecified, the
objtype will be :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now :at-val:`"real"`.
- Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype`, :at:`objname` and :at:`needstage`. If
unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now
:at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`.
- Add support for capsules in URDF import.
- On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`_
translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of