From 323d6e96fd33c5e85d5764411796804a24bacba2 Mon Sep 17 00:00:00 2001 From: Saran Tunyasuvunakool Date: Tue, 27 Sep 2022 15:08:37 -0700 Subject: [PATCH] Fix typo and weird indentation in documentation. PiperOrigin-RevId: 477285765 Change-Id: I90dd05c85898193f67fa1ec94e9d3ffdaa7701e8 --- doc/changelog.rst | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 9f20904e..ec79d663 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -17,12 +17,15 @@ General notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python. |br| Try it yourself: |LQRopenincolab| + .. |LQRopenincolab| image:: https://colab.research.google.com/assets/colab-badge.svg + :target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb + - Updates to humanoid model: - - Added two keyframes (stand-on-one-leg and squat). - - Increased maximum hip flexion angle. - - Added hamstring tendons which couple the hip and knee at high hip flexion angles. - - General cosmetic improvements, including improved use of defaults and better naming scheme. + * Added two keyframes (stand-on-one-leg and squat). + * Increased maximum hip flexion angle. + * Added hamstring tendons which couple the hip and knee at high hip flexion angles. + * General cosmetic improvements, including improved use of defaults and better naming scheme. - Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained Quadratic Program: @@ -33,6 +36,7 @@ General The algorithm, introduced in `Tassa et al. 2014 `_, converges after 2-5 Cholesky factorisations, independent of problem size. + - Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both sides. The function returns :math:`x^TMy`. @@ -41,10 +45,7 @@ General option for simple use cases and backward compatibility. The new mechanism manages stateful plugins and supports multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather than as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally. - If you are interested in using the pluging mechanism, please get in touch first. - -.. |LQRopenincolab| image:: https://colab.research.google.com/assets/colab-badge.svg - :target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb + If you are interested in using the plugin mechanism, please get in touch first. Python bindings ^^^^^^^^^^^^^^^