From 1fa538a43b5953535a13cc92e12fcdca822e49bd Mon Sep 17 00:00:00 2001 From: jonas-eschmann Date: Wed, 15 Mar 2023 16:10:50 -0400 Subject: [PATCH] Fixing typo in the documentation --- doc/overview.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/overview.rst b/doc/overview.rst index bc41c731..edc44d7d 100644 --- a/doc/overview.rst +++ b/doc/overview.rst @@ -49,7 +49,7 @@ Soft, convex and analytically-invertible contact dynamics based on a different formulation of the physics of contact which reduces to a convex optimization problem, as explained in detail in the :doc:`computation` chapter. Our model allows soft contacts and other constraints, and has a uniquely-defined inverse facilitating data analysis and control applications. There is a choice of optimization - algorithms, including a generalization to the projected Gauss-Siedel method that can handle elliptic friction cones. + algorithms, including a generalization to the projected Gauss-Seidel method that can handle elliptic friction cones. The solver provides unified treatment of frictional contacts including torsional and rolling friction, frictionless contacts, joint and tendon limits, dry friction in joints and tendons, as well as a variety of equality constraints.