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Fix typo in mjd_inverseFD documentation.

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PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
This commit is contained in:
Yuval Tassa
2023-05-03 01:29:44 -07:00
committed by Copybara-Service
parent e59720833e
commit 42a16f65c2
5 changed files with 5 additions and 5 deletions
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doc/APIreference/functions.rst
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@@ -3217,7 +3217,7 @@ using finite-differencing. These matrices and their dimensions are:
``DfDq``, :math:`\partial f / \partial q`, ``nv x nv`` ``DfDq``, :math:`\partial f / \partial q`, ``nv x nv``
``DfDv``, :math:`\partial f / \partial v`, ``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`` ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata`` ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata`` ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
doc/APIreference/functions_override.rst
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@@ -455,7 +455,7 @@ using finite-differencing. These matrices and their dimensions are:
``DfDq``, :math:`\partial f / \partial q`, ``nv x nv`` ``DfDq``, :math:`\partial f / \partial q`, ``nv x nv``
``DfDv``, :math:`\partial f / \partial v`, ``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`` ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata`` ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata`` ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
include/mujoco/mujoco.h
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@@ -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): // All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention):
// DfDq: (nv x nv) // DfDq: (nv x nv)
// DfDv: (nv x nv) // DfDv: (nv x nv)
// DfDa: (na x nv) // DfDa: (nv x nv)
// DsDq: (nv x nsensordata) // DsDq: (nv x nsensordata)
// DsDv: (nv x nsensordata) // DsDv: (nv x nsensordata)
// DsDa: (nv x nsensordata) // DsDa: (nv x nsensordata)
introspect/functions.py
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@@ -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', ('mjp_defaultPlugin',
FunctionDecl( FunctionDecl(
src/engine/engine_derivative_fd.c
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@@ -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): // output dimensions (transposed w.r.t Control Theory convention):
// DfDq: (nv x nv) // DfDq: (nv x nv)
// DfDv: (nv x nv) // DfDv: (nv x nv)
// DfDa: (na x nv) // DfDa: (nv x nv)
// DsDq: (nv x nsensordata) // DsDq: (nv x nsensordata)
// DsDv: (nv x nsensordata) // DsDv: (nv x nsensordata)
// DsDa: (nv x nsensordata) // DsDa: (nv x nsensordata)