Change some redirecting links to direct links.
Files in github should be linked to using /blob/ rather than /tree/ URLs, while directories should be linked with /tree/. PiperOrigin-RevId: 524796430 Change-Id: I72492a6acde0709b55d8d8620ad9b538619e7606
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Nimrod Gileadi
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Copybara-Service
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@@ -180,7 +180,7 @@ If you use MuJoCo for published research, please cite:
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Copyright 2021 DeepMind Technologies Limited.
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Box collision code ([`engine_collision_box.c`](https://github.com/deepmind/mujoco/tree/main/src/engine/engine_collision_box.c))
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Box collision code ([`engine_collision_box.c`](https://github.com/deepmind/mujoco/blob/main/src/engine/engine_collision_box.c))
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is Copyright 2016 Svetoslav Kolev.
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ReStructuredText documents, images, and videos in the `doc` directory are made
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+13
-13
@@ -191,7 +191,7 @@ General
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between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with
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the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons
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whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See
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`tendon_springlength.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/tendon_springlength.xml>`_
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`tendon_springlength.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`_
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example model.
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.. attention::
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@@ -205,7 +205,7 @@ General
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#. Removed the requirement that stateless actuators come before stateful actuators.
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#. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
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#. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and buoyancy.
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See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
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See `balloons.xml <https://github.com/deepmind/mujoco/blob/main/model/balloons/balloons.xml>`_ example model.
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#. Renamed the ``cable`` plugin library to ``elasticity``.
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#. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
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for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
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@@ -213,14 +213,14 @@ General
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`engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
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#. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
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joints. See the two new examples:
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`particle_free.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free.xml>`_ and
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`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_.
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`particle_free.xml <https://github.com/deepmind/mujoco/blob/main/model/composite/particle_free.xml>`_ and
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`particle_free2d.xml <https://github.com/deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`_.
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#. Performance improvements for non-AVX configurations:
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- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test
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<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
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<https://github.com/deepmind/mujoco/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
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- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
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<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
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<https://github.com/deepmind/mujoco/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
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#. Added new :at:`solid` passive force plugin:
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.. youtube:: AGcTGHbbze4
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@@ -329,11 +329,11 @@ General
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- Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
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- The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
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- New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example showing the
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- New `cable.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/cable.xml>`_ example showing the
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formation of plectoneme.
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- New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example showing a curved
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- New `coil.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/coil.xml>`_ example showing a curved
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equilibrium configuration.
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- New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example showing interaction
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- New `belt.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/belt.xml>`_ example showing interaction
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between twist and anisotropy.
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- Added test using cantilever exact solution.
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@@ -375,7 +375,7 @@ General
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#. Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``, from 7 to 11.
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#. Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in
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``simulate``).
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#. Added `weld.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/weld.xml>`_ showing different
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#. Added `weld.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`_ showing different
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uses of new weld attributes.
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.. youtube:: s-0JHanqV1A
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@@ -384,7 +384,7 @@ General
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#. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site`
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transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<actuator-general>` documentation
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and `refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model.
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and `refsite.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/refsite.xml>`_ example model.
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#. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator
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:at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the
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@@ -410,7 +410,7 @@ General
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:height: 150px
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#. Added catenary visualisation for hanging tendons. The model seen in the video can be found
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`here <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/catenary.xml>`_.
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`here <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`_.
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#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial
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orientation of the free camera at model load time.
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#. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
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@@ -739,7 +739,7 @@ API changes
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#. Added ``mj_versionString``, which returns human-readable string that represents the version of the MuJoCo binary.
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#. Converted leading underscores to trailing underscores in private instances of API struct definitions, to conform to
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reserved identifier directive, see
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`C standard: Section 7.1.3 <http://www.open-std.org/jtc1/sc22/wg14/www/docs/n1570.pdf>`__.
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`C standard: Section 7.1.3 <https://www.open-std.org/jtc1/sc22/wg14/www/docs/n1570.pdf>`__.
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.. attention::
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This is a minor breaking change. Code which references private instances will break. To fix, replace leading
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+1
-1
@@ -16,7 +16,7 @@ DeepMind’s `dm_control <https://github.com/deepmind/dm_control>`__ reinforceme
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version 1.0.0 implemented its own MuJoCo bindings based on ``ctypes``) has been updated to depend on the ``mujoco``
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package and continues to be supported by DeepMind. Changes in dm_control should be largely transparent to users of
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previous versions, however code that depended directly on its low-level API may need to be updated. Consult the
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`migration guide <https://github.com/deepmind/dm_control/blob/master/migration_guide_1.0.md>`__ for detail.
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`migration guide <https://github.com/deepmind/dm_control/blob/main/migration_guide_1.0.md>`__ for detail.
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For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration.
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