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Change some redirecting links to direct links.

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PiperOrigin-RevId: 524796430
Change-Id: I72492a6acde0709b55d8d8620ad9b538619e7606
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Nimrod Gileadi
2023-04-17 03:05:25 -07:00
committed by Copybara-Service
parent d7456f5d35
commit 0e1f948c0a
3 changed files with 15 additions and 15 deletions
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README.md
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@@ -180,7 +180,7 @@ If you use MuJoCo for published research, please cite:
Copyright 2021 DeepMind Technologies Limited. 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. is Copyright 2016 Svetoslav Kolev.
ReStructuredText documents, images, and videos in the `doc` directory are made ReStructuredText documents, images, and videos in the `doc` directory are made
doc/changelog.rst
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@@ -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 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 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 whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See
`tendon_springlength.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/tendon_springlength.xml>`_ `tendon_springlength.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`_
example model. example model.
.. attention:: .. attention::
@@ -205,7 +205,7 @@ General
#. Removed the requirement that stateless actuators come before stateful actuators. #. Removed the requirement that stateless actuators come before stateful actuators.
#. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions. #. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
#. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and buoyancy. #. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and buoyancy.
See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model. See `balloons.xml <https://github.com/deepmind/mujoco/blob/main/model/balloons/balloons.xml>`_ example model.
#. Renamed the ``cable`` plugin library to ``elasticity``. #. Renamed the ``cable`` plugin library to ``elasticity``.
#. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed #. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. 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 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 <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_. `engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
#. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple #. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
joints. See the two new examples: joints. See the two new examples:
`particle_free.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free.xml>`_ and `particle_free.xml <https://github.com/deepmind/mujoco/blob/main/model/composite/particle_free.xml>`_ and
`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_. `particle_free2d.xml <https://github.com/deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`_.
#. Performance improvements for non-AVX configurations: #. Performance improvements for non-AVX configurations:
- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test - 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_. <https://github.com/deepmind/mujoco/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test - 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_. <https://github.com/deepmind/mujoco/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
#. Added new :at:`solid` passive force plugin: #. Added new :at:`solid` passive force plugin:
.. youtube:: AGcTGHbbze4 .. youtube:: AGcTGHbbze4
@@ -329,11 +329,11 @@ General
- Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`. - 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`. - The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
- New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example showing the - New `cable.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/cable.xml>`_ example showing the
formation of plectoneme. formation of plectoneme.
- New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example showing a curved - New `coil.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/coil.xml>`_ example showing a curved
equilibrium configuration. equilibrium configuration.
- New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example showing interaction - New `belt.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/belt.xml>`_ example showing interaction
between twist and anisotropy. between twist and anisotropy.
- Added test using cantilever exact solution. - 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. #. 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 #. Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in
``simulate``). ``simulate``).
#. Added `weld.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/weld.xml>`_ showing different #. Added `weld.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`_ showing different
uses of new weld attributes. uses of new weld attributes.
.. youtube:: s-0JHanqV1A .. 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` #. 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<actuator-general>` documentation transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<actuator-general>` documentation
and `refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model. and `refsite.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/refsite.xml>`_ example model.
#. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator #. 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 :at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the
@@ -410,7 +410,7 @@ General
:height: 150px :height: 150px
#. Added catenary visualisation for hanging tendons. The model seen in the video can be found #. Added catenary visualisation for hanging tendons. The model seen in the video can be found
`here <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/catenary.xml>`_. `here <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`_.
#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial #. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial
orientation of the free camera at model load time. orientation of the free camera at model load time.
#. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes. #. 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. #. 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 #. Converted leading underscores to trailing underscores in private instances of API struct definitions, to conform to
reserved identifier directive, see reserved identifier directive, see
`C standard: Section 7.1.3 <http://www.open-std.org/jtc1/sc22/wg14/www/docs/n1570.pdf>`__. `C standard: Section 7.1.3 <https://www.open-std.org/jtc1/sc22/wg14/www/docs/n1570.pdf>`__.
.. attention:: .. attention::
This is a minor breaking change. Code which references private instances will break. To fix, replace leading This is a minor breaking change. Code which references private instances will break. To fix, replace leading
doc/python.rst
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@@ -16,7 +16,7 @@ DeepMind’s `dm_control <https://github.com/deepmind/dm_control>`__ reinforceme
version 1.0.0 implemented its own MuJoCo bindings based on ``ctypes``) has been updated to depend on the ``mujoco`` 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 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 previous versions, however code that depended directly on its low-level API may need to be updated. Consult the
`migration guide <https://github.com/deepmind/dm_control/blob/master/migration_guide_1.0.md>`__ for detail. `migration guide <https://github.com/deepmind/dm_control/blob/main/migration_guide_1.0.md>`__ for detail.
For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration. For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration.