From 4beab79946f1ba46c962b6512ff43493f8055f77 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Wed, 31 May 2023 14:08:13 -0700 Subject: [PATCH] Remove outdated reference in computation chapter. PiperOrigin-RevId: 536818445 Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187 --- doc/computation.rst | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/doc/computation.rst b/doc/computation.rst index 194a4dad..e4751edd 100644 --- a/doc/computation.rst +++ b/doc/computation.rst @@ -1169,9 +1169,7 @@ we obtain the unconstrained problem :label: eq:reduced The function :math:`s(\cdot)` plays the role of a soft-constraint penalty. It can be shown to be convex and -once-continuously-differentiable. In the case of pyramidal friction cones it is a quadratic spline. This reduced -formulation is the basis for the efficient new solvers introduced in MuJoCo 1.50, as well as new optimal control methods -such as Goal-Directed Dynamics which we are developing. +once-continuously-differentiable. In the case of pyramidal friction cones it is a quadratic spline. Another appealing feature of the reduced formulation is that the inverse dynamics can be easily computed. Since the above problem is unconstrained and convex, the unique global minimum makes the gradient vanish. This yields the identity