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Remove outdated reference in computation chapter.

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PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
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Yuval Tassa
2023-05-31 14:08:13 -07:00
committed by Copybara-Service
parent d1c6561f1c
commit 4beab79946
1 changed files with 1 additions and 3 deletions
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doc/computation.rst
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@@ -1169,9 +1169,7 @@ we obtain the unconstrained problem
:label: eq:reduced :label: eq:reduced
The function :math:`s(\cdot)` plays the role of a soft-constraint penalty. It can be shown to be convex and 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 once-continuously-differentiable. In the case of pyramidal friction cones it is a quadratic spline.
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.
Another appealing feature of the reduced formulation is that the inverse dynamics can be easily computed. Since the 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 above problem is unconstrained and convex, the unique global minimum makes the gradient vanish. This yields the identity