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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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src/engine/engine_core_constraint.c
+4 -4
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@@ -1502,21 +1502,21 @@ void mj_makeImpedance(const mjModel* m, mjData* d) {
KBIP[4*(i+j)] = 0;
}
// standard: K = 1 / (dmax^2 * timeconst^2 * dampratio^2)
// standard: K = 1 / (d_width^2 * timeconst^2 * dampratio^2)
else if (ref[0] > 0)
KBIP[4*(i+j)] = 1 / mju_max(mjMINVAL, solimp[1]*solimp[1] * ref[0]*ref[0] * ref[1]*ref[1]);
// direct: K = -solref[0] / dmax^2
// direct: K = -solref[0] / d_width^2
else {
KBIP[4*(i+j)] = -ref[0] / mju_max(mjMINVAL, solimp[1]*solimp[1]);
}
// standard: B = 2 / (dmax*timeconst)
// standard: B = 2 / (d_width*timeconst)
if (ref[1] > 0) {
KBIP[4*(i+j)+1] = 2 / mju_max(mjMINVAL, solimp[1]*ref[0]);
}
// direct: B = -solref[1] / dmax
// direct: B = -solref[1] / d_width
else {
KBIP[4*(i+j)+1] = -ref[1] / mju_max(mjMINVAL, solimp[1]);
}