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Fix typo in changelog.

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PiperOrigin-RevId: 563399339
Change-Id: I59b6e70bbde64d06a581b45ed529de09603ef8f8
This commit is contained in:
Kevin Zakka
2023-09-07 05:22:33 -07:00
committed by Copybara-Service
parent 040d3efce2
commit 1a3215e329
1 changed files with 4 additions and 4 deletions
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doc/changelog.rst
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@@ -14,7 +14,7 @@ New features
1. Added constraint island discovery in :ref:`mj_island`. Constraint islands are disjoint sets of constraints 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 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<option-flag-island>` exploit this disjoint structure. Island discovery can be activated using a new :ref:`enable flag<option-flag-island>`
which will be removed after the refactor. If island discovery is enabled, geoms, contacts and 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. 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. 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 - 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<exWriting>` for more details. gradient at query points. See the :ref:`documentation<exWriting>` for more details.
3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine 3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine
pipeline. pipeline.
@@ -62,8 +62,8 @@ General
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details. Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
11. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all 11. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details. :ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
12. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_iterations<option-ls_tolerance>` options for adjusting 12. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning. linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning.
Python bindings Python bindings
^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^