diff --git a/README.md b/README.md index f3268c87..35426831 100644 --- a/README.md +++ b/README.md @@ -180,7 +180,7 @@ If you use MuJoCo for published research, please cite: Copyright 2021 DeepMind Technologies Limited. -Box collision code ([`engine_collision_box.c`](https://github.com/deepmind/mujoco/tree/main/src/engine/engine_collision_box.c)) +Box collision code ([`engine_collision_box.c`](https://github.com/deepmind/mujoco/blob/main/src/engine/engine_collision_box.c)) is Copyright 2016 Svetoslav Kolev. ReStructuredText documents, images, and videos in the `doc` directory are made diff --git a/doc/changelog.rst b/doc/changelog.rst index 538ba7d1..04775635 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -191,7 +191,7 @@ General between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See - `tendon_springlength.xml `_ + `tendon_springlength.xml `_ example model. .. attention:: @@ -205,7 +205,7 @@ General #. Removed the requirement that stateless actuators come before stateful actuators. #. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions. #. Added :at:`gravcomp` attribute to :ref:`body`, implementing gravity compensation and buoyancy. - See `balloons.xml `_ example model. + See `balloons.xml `_ example model. #. Renamed the ``cable`` plugin library to ``elasticity``. #. Added :at:`actdim` attribute to :ref:`general actuators`. Values greater than 1 are only allowed for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order @@ -213,14 +213,14 @@ General `engine_forward_test.cc `_. #. Improved particle :ref:`composite` type, which now permits a user-specified geometry and multiple joints. See the two new examples: - `particle_free.xml `_ and - `particle_free2d.xml `_. + `particle_free.xml `_ and + `particle_free2d.xml `_. #. Performance improvements for non-AVX configurations: - 14% faster ``mj_solveLD`` using `restrict `_. See `engine_core_smooth_benchmark_test - `_. + `_. - 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test - `_. + `_. #. Added new :at:`solid` passive force plugin: .. youtube:: AGcTGHbbze4 @@ -329,11 +329,11 @@ General - Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`. - The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`. - - New `cable.xml `_ example showing the + - New `cable.xml `_ example showing the formation of plectoneme. - - New `coil.xml `_ example showing a curved + - New `coil.xml `_ example showing a curved equilibrium configuration. - - New `belt.xml `_ example showing interaction + - New `belt.xml `_ example showing interaction between twist and anisotropy. - Added test using cantilever exact solution. @@ -375,7 +375,7 @@ General #. Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``, from 7 to 11. #. Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in ``simulate``). -#. Added `weld.xml `_ showing different +#. Added `weld.xml `_ showing different uses of new weld attributes. .. youtube:: s-0JHanqV1A @@ -384,7 +384,7 @@ General #. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site` transmission. See description of new :at:`refsite` attribute in the :ref:`actuator` documentation - and `refsite.xml `_ example model. + and `refsite.xml `_ example model. #. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator :at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the @@ -410,7 +410,7 @@ General :height: 150px #. Added catenary visualisation for hanging tendons. The model seen in the video can be found - `here `_. + `here `_. #. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global`, defining the initial orientation of the free camera at model load time. #. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes. @@ -739,7 +739,7 @@ API changes #. Added ``mj_versionString``, which returns human-readable string that represents the version of the MuJoCo binary. #. Converted leading underscores to trailing underscores in private instances of API struct definitions, to conform to reserved identifier directive, see - `C standard: Section 7.1.3 `__. + `C standard: Section 7.1.3 `__. .. attention:: This is a minor breaking change. Code which references private instances will break. To fix, replace leading diff --git a/doc/python.rst b/doc/python.rst index 7a8754ca..844646a4 100644 --- a/doc/python.rst +++ b/doc/python.rst @@ -16,7 +16,7 @@ DeepMind’s `dm_control `__ reinforceme version 1.0.0 implemented its own MuJoCo bindings based on ``ctypes``) has been updated to depend on the ``mujoco`` package and continues to be supported by DeepMind. Changes in dm_control should be largely transparent to users of previous versions, however code that depended directly on its low-level API may need to be updated. Consult the -`migration guide `__ for detail. +`migration guide `__ for detail. For mujoco-py users, we include :ref:`notes ` below to aid migration.