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Fix typo and weird indentation in documentation.

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PiperOrigin-RevId: 477285765
Change-Id: I90dd05c85898193f67fa1ec94e9d3ffdaa7701e8
This commit is contained in:
Saran Tunyasuvunakool
2022-09-27 15:08:37 -07:00
committed by Copybara-Service
parent a6b338db64
commit 323d6e96fd
1 changed files with 9 additions and 8 deletions
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doc/changelog.rst
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@@ -17,12 +17,15 @@ General
notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python. notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python.
|br| Try it yourself: |LQRopenincolab| |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: - Updates to humanoid model:
- Added two keyframes (stand-on-one-leg and squat). * Added two keyframes (stand-on-one-leg and squat).
- Increased maximum hip flexion angle. * Increased maximum hip flexion angle.
- Added hamstring tendons which couple the hip and knee at high hip flexion angles. * 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. * 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 - Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
Quadratic Program: Quadratic Program:
@@ -33,6 +36,7 @@ General
The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_, The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_,
converges after 2-5 Cholesky factorisations, independent of problem size. 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 - 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`. 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 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 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. 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. If you are interested in using the plugin 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
Python bindings Python bindings
^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^