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Fix typos and minor corrections in MuJoCo documentation and comments.

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PiperOrigin-RevId: 875163889
Change-Id: Ic604d6235bf9cb999058f191e3ee41e47ec1a567
This commit is contained in:
Yuval Tassa
2026-02-25 07:56:01 -08:00
committed by Copybara-Service
parent 940cab2508
commit 0c66585e39
14 changed files with 43 additions and 43 deletions
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doc/computation/index.rst
+5 -5
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@@ -531,7 +531,7 @@ All three single-step integrators in MuJoCo use the update :eq:`eq_implicit_upda
Semi-implicit with implicit joint damping (``Euler``)
For this method, :math:`D` only includes derivatives of joint damping. Note that in this case :math:`D` is diagonal
and :math:`\widehat{M}` is symmetric, so :math:`L^TL` decomposition (a variant of Cholesky) can be used. This
factorization is stored ``mjData.qLD``. If the model has no joint damping or the
factorization is stored in ``mjData.qH``. If the model has no joint damping or the
:ref:`eulerdamp<option-flag-eulerdamp>` disable-flag is set, implicit damping is disabled and the semi-implicit
update :eq:`eq_semimplicit` is used, rather than :eq:`eq_implicit_update`, avoiding the additional factorization of
:math:`\widehat{M}` (*additional* because :math:`M` is already factorized for the acceleration update
@@ -579,11 +579,11 @@ Fast implicit-in-velocity (``implicitfast``)
step is "just right", but that range is model-dependent.
:ref:`integrator<option-integrator>`
Summary: The recommended integrator is ``implicitfast`` which usually has the best tradeoff of stabillity and
Summary: The recommended integrator is ``implicitfast`` which usually has the best tradeoff of stability and
performance.
**Euler**:
Use ``Euler`` for compatibillity with older models.
Use ``Euler`` for compatibility with older models.
**implicitfast**:
The ``implicitfast`` integrator has similar computational cost to ``Euler``, yet provides
increased stability, and is therefore a strict improvement. It is the recommended integrator for most models.
@@ -839,14 +839,14 @@ as defined later. The ``condim`` parameter determines the contact type, and has
``condim = 3`` : 3 for elliptic, 4 for pyramidal
This is a regular frictional contact, which can generate normal force as well as a tangential friction force opposing
slip. An interpertation of this number is the slope of a surface above which a flat object will begin to slip
slip. An interpretation of this number is the slope of a surface above which a flat object will begin to slip
under gravity.
``condim = 4`` : 4 for elliptic, 6 for pyramidal
In addition to normal and tangential force, this contact can generate torsional friction torque opposing rotation
around the contact normal, corresponding to a torque generated by a contacting surface patch. This is useful for
modeling soft fingers, and can substantially improve the stability of simulated grasping. Torsional friction
coefficients have **units of length** which can be interperted as the diameter of the surface contact patch.
coefficients have **units of length** which can be interpreted as the diameter of the surface contact patch.
``condim = 6`` : 6 for elliptic, 10 for pyramidal
This contact can oppose motion in all relative degrees of freedom between the two geoms. In particular it adds