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Fix quaternion typos.

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PiperOrigin-RevId: 453203844
Change-Id: I7d788c21bb00b7746f941fb2cf755f0b046e35f2
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Kevin Zakka
2022-06-06 08:23:41 -07:00
committed by Copybara-Service
parent 16baac9353
commit 53d3220fcc
11 changed files with 22 additions and 22 deletions
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doc/programming.rst
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@@ -1136,7 +1136,7 @@ the standard convention, we set A_rowadr[r] = r*n. MuJoCo uses sparse matrices i
To represent 3D orientations and rotations, MuJoCo uses unit quaternions - namely 4D unit vectors arranged as q = (w,
x, y, z). Here (x, y, z) is the rotation axis unit vector scaled by sin(a/2), where a is the rotation angle in
radians, and w = cos(a/2). Thus the quaternion corresponding to a null rotation is (1, 0, 0, 0). This is the default
setting of all quaterions in MJCF.
setting of all quaternions in MJCF.
MuJoCo also uses 6D spatial vectors internally. These are quantities in mjData prefixed with 'c', namely cvel, cacc,
cdot, etc. They are spatial motion and force vectors that combine a 3D rotational component followed by a 3D