From 5a9239e11cac924df98e68faf6adff099fe19499 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 6 Nov 2023 05:11:24 -0800 Subject: [PATCH] Improve inline documentation of `mj_passive` and `mj_subtreeVel`. PiperOrigin-RevId: 579808998 Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196 --- doc/APIreference/functions.rst | 4 ++-- include/mujoco/mujoco.h | 4 ++-- introspect/functions.py | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst index 91c35b1b..beb45b49 100644 --- a/doc/APIreference/functions.rst +++ b/doc/APIreference/functions.rst @@ -803,7 +803,7 @@ mj_passive .. mujoco-include:: mj_passive -Compute qfrc_passive from spring-dampers, viscosity and density. +Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces. .. _mj_subtreeVel: @@ -812,7 +812,7 @@ mj_subtreeVel .. mujoco-include:: mj_subtreeVel -subtree linear velocity and angular momentum +Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom. .. _mj_rne: diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 3cd4ff6b..54e6e582 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -336,10 +336,10 @@ MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, i // Compute cvel, cdof_dot. MJAPI void mj_comVel(const mjModel* m, mjData* d); -// Compute qfrc_passive from spring-dampers, viscosity and density. +// Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces. MJAPI void mj_passive(const mjModel* m, mjData* d); -// subtree linear velocity and angular momentum +// Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom. MJAPI void mj_subtreeVel(const mjModel* m, mjData* d); // RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term. diff --git a/introspect/functions.py b/introspect/functions.py index 7d45811e..d6b1ae56 100644 --- a/introspect/functions.py +++ b/introspect/functions.py @@ -1666,7 +1666,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Compute qfrc_passive from spring-dampers, viscosity and density.', + doc='Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.', # pylint: disable=line-too-long )), ('mj_subtreeVel', FunctionDecl( @@ -1686,7 +1686,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='subtree linear velocity and angular momentum', + doc='Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom.', # pylint: disable=line-too-long )), ('mj_rne', FunctionDecl(