diff --git a/doc/changelog.rst b/doc/changelog.rst index a87ed2c9..5d545921 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -34,7 +34,7 @@ General #. Removed the requirement that stateless actuators come before stateful actuators. #. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions. -#. Added :at:`gravcomp` attribute to :ref:`body`, implementing gravity compensation and bouyancy. +#. Added :at:`gravcomp` attribute to :ref:`body`, implementing gravity compensation and buoyancy. See `balloons.xml `_ example model. #. Renamed the ``cable`` plugin library to ``elasticity``. #. Added :at:`actdim` attribute to :ref:`general actuators`. Values greater than 1 are only allowed @@ -64,16 +64,16 @@ General - Only suitable for small strains (large displacements but small deformations). Tetrahedra may invert if subject to large loads. -#. Add API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function is identical to +#. Added API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function is identical to ``dlopen`` on a POSIX system, and to ``LoadLibraryA`` on Windows. The second function scans a specified directory for all dynamic libraries file and loads each library found. Dynamic libraries opened by these functions are assumed to register one or more MuJoCo plugins on load. -#. Add an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows +#. Added an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows custom plugin visualizations. Enable stress visualization for the Cable plugin as an example. #. Sensors of type :ref:`user` no longer require :at:`objtype`, :at:`objname` and :at:`needstage`. If unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN`. ``user`` sensors :at:`datatype` default is now :at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`. -#. Add support for capsules in URDF import. +#. Added support for capsules in URDF import. #. On macOS, issue an informative error message when run under `Rosetta 2 `_ translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of `AVX `_ instructions on x86-64 machines, which is not