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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/programming/simulation.rst
+2 -2
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@@ -267,7 +267,7 @@ The *physics state* (:ref:`mjSTATE_PHYSICS<mjtState>`) contains the main quantit
stepping. These are ``mjData.{qpos, qvel, act, history}``:
Position: ``qpos``
The configuration in generalized coodinates, denoted in the :ref:`Numerical Integration<geIntegration>` section as
The configuration in generalized coordinates, denoted in the :ref:`Numerical Integration<geIntegration>` section as
:math:`q`.
Velocity: ``qvel``
@@ -322,7 +322,7 @@ Control: ``ctrl``
Controls are defined by the :ref:`actuator<actuator>` section of the XML. ``mjData.ctrl`` values either produce
generalized forces directly (stateless actuators), or affect the actuator activations in ``mjData.act``, which then
produce forces. Note that while all actuators produce forces, the semantics of ``ctrl`` and ``act`` depend on the
specifc parameters of the :ref:`actuation model<geActuation>`.
specific parameters of the :ref:`actuation model<geActuation>`.
Auxiliary Controls: ``qfrc_applied`` and ``xfrc_applied``
| ``mjData.qfrc_applied`` are directly applied generalized forces.