Add a new disable flag mjDSBL_AUTORESETNAN.

PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8

doc/changelog.rst

@@ -9,15 +9,16 @@ General
 ^^^^^^^
 
 1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
+2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
 
 MJX
 ^^^
 
-2. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
+3. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
 
 Python bindings
 ^^^^^^^^^^^^^^^
-2. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
+4. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
    ``mujoco.spec.compile``.
 
 Version 3.2.0 (Jul 15, 2024)

doc/includes/references.h

@@ -418,8 +418,9 @@ typedef enum mjtDisableBit_ {     // disable default feature bitflags
   mjDSBL_SENSOR       = 1<<12,    // sensors
   mjDSBL_MIDPHASE     = 1<<13,    // mid-phase collision filtering
   mjDSBL_EULERDAMP    = 1<<14,    // implicit integration of joint damping in Euler integrator
+  mjDSBL_AUTORESETNAN = 1<<15,    // automatic reset when numerical issues are detected
 
-  mjNDISABLE          = 15        // number of disable flags
+  mjNDISABLE          = 16        // number of disable flags
 } mjtDisableBit;
 typedef enum mjtEnableBit_ {      // enable optional feature bitflags
   mjENBL_OVERRIDE     = 1<<0,     // override contact parameters