From 1a3215e329edd7b8f770edd8bc9cd5f5084ea6a8 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Thu, 7 Sep 2023 05:22:33 -0700 Subject: [PATCH] Fix typo in changelog. PiperOrigin-RevId: 563399339 Change-Id: I59b6e70bbde64d06a581b45ed529de09603ef8f8 --- doc/changelog.rst | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index e6d03de4..a2042087 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -14,7 +14,7 @@ New features 1. Added constraint island discovery in :ref:`mj_island`. Constraint islands are disjoint sets of constraints and degrees-of-freedom that do not interact. In a future release the constraint solver will be refactored to - exploit the disjoint structure. Island discovery can be activated using a new :ref:`enable flag` + exploit this disjoint structure. Island discovery can be activated using a new :ref:`enable flag` which will be removed after the refactor. If island discovery is enabled, geoms, contacts and tendons will be colored according to the corresponding island, see video. @@ -26,7 +26,7 @@ New features convex. Collision points are found by minimizing the maximum of the two colliding SDFs via gradient descent. - Added new SDF plugin for defining implicit geometries. The plugin must define methods computing an SDF and its - gradient at query points See the :ref:`documentation` for more details. + gradient at query points. See the :ref:`documentation` for more details. 3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine pipeline. @@ -62,8 +62,8 @@ General Euler integrator. See the :ref:`Numerical Integration` section for more details. 11. Added the flag :ref:`invdiscrete`, which enables discrete-time inverse dynamics for all :ref:`integrators` other than ``RK4``. See the flag documentation for more details. -12. Added :ref:`ls_iterations` and :ref:`ls_iterations` options for adjusting - linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning. +12. Added :ref:`ls_iterations` and :ref:`ls_tolerance` options for adjusting + linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning. Python bindings ^^^^^^^^^^^^^^^