From 42a16f65c2814249f4272aefc87e8821ccd4e9ae Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Wed, 3 May 2023 01:29:44 -0700 Subject: [PATCH] Fix typo in `mjd_inverseFD` documentation. PiperOrigin-RevId: 529022023 Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5 --- doc/APIreference/functions.rst | 2 +- doc/APIreference/functions_override.rst | 2 +- include/mujoco/mujoco.h | 2 +- introspect/functions.py | 2 +- src/engine/engine_derivative_fd.c | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst index 6c2be148..d9bab087 100644 --- a/doc/APIreference/functions.rst +++ b/doc/APIreference/functions.rst @@ -3217,7 +3217,7 @@ using finite-differencing. These matrices and their dimensions are: ``DfDq``, :math:`\partial f / \partial q`, ``nv x nv`` ``DfDv``, :math:`\partial f / \partial v`, ``nv x nv`` - ``DfDa``, :math:`\partial f / \partial a`, ``na x nv`` + ``DfDa``, :math:`\partial f / \partial a`, ``nv x nv`` ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata`` ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata`` ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata`` diff --git a/doc/APIreference/functions_override.rst b/doc/APIreference/functions_override.rst index c81dc0f7..07e69220 100644 --- a/doc/APIreference/functions_override.rst +++ b/doc/APIreference/functions_override.rst @@ -455,7 +455,7 @@ using finite-differencing. These matrices and their dimensions are: ``DfDq``, :math:`\partial f / \partial q`, ``nv x nv`` ``DfDv``, :math:`\partial f / \partial v`, ``nv x nv`` - ``DfDa``, :math:`\partial f / \partial a`, ``na x nv`` + ``DfDa``, :math:`\partial f / \partial a`, ``nv x nv`` ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata`` ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata`` ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata`` diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 4180fd17..39b2f315 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -1237,7 +1237,7 @@ MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg // All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention): // DfDq: (nv x nv) // DfDv: (nv x nv) -// DfDa: (na x nv) +// DfDa: (nv x nv) // DsDq: (nv x nsensordata) // DsDv: (nv x nsensordata) // DsDa: (nv x nsensordata) diff --git a/introspect/functions.py b/introspect/functions.py index 9c0932f3..f918dbcf 100644 --- a/introspect/functions.py +++ b/introspect/functions.py @@ -7874,7 +7874,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration) All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention): DfDq: (nv x nv) DfDv: (nv x nv) DfDa: (na x nv) DsDq: (nv x nsensordata) DsDv: (nv x nsensordata) DsDa: (nv x nsensordata) DmDq: (nv x nM) single-letter shortcuts: inputs: q=qpos, v=qvel, a=qacc outputs: f=qfrc_inverse, s=sensordata, m=qM notes: optionally computes mass matrix Jacobian DmDq flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse', # pylint: disable=line-too-long + doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration) All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention): DfDq: (nv x nv) DfDv: (nv x nv) DfDa: (nv x nv) DsDq: (nv x nsensordata) DsDv: (nv x nsensordata) DsDa: (nv x nsensordata) DmDq: (nv x nM) single-letter shortcuts: inputs: q=qpos, v=qvel, a=qacc outputs: f=qfrc_inverse, s=sensordata, m=qM notes: optionally computes mass matrix Jacobian DmDq flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse', # pylint: disable=line-too-long )), ('mjp_defaultPlugin', FunctionDecl( diff --git a/src/engine/engine_derivative_fd.c b/src/engine/engine_derivative_fd.c index de7bf14a..d1ab7d83 100644 --- a/src/engine/engine_derivative_fd.c +++ b/src/engine/engine_derivative_fd.c @@ -617,7 +617,7 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_cente // output dimensions (transposed w.r.t Control Theory convention): // DfDq: (nv x nv) // DfDv: (nv x nv) -// DfDa: (na x nv) +// DfDa: (nv x nv) // DsDq: (nv x nsensordata) // DsDv: (nv x nsensordata) // DsDa: (nv x nsensordata)