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Improve inline documentation of mj_passive and mj_subtreeVel.

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PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
This commit is contained in:
Yuval Tassa
2023-11-06 05:11:24 -08:00
committed by Copybara-Service
parent a6687885a5
commit 5a9239e11c
3 changed files with 6 additions and 6 deletions
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doc/APIreference/functions.rst
+2 -2
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@@ -803,7 +803,7 @@ mj_passive
.. mujoco-include:: 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: .. _mj_subtreeVel:
@@ -812,7 +812,7 @@ mj_subtreeVel
.. mujoco-include:: 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: .. _mj_rne:
include/mujoco/mujoco.h
+2 -2
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@@ -336,10 +336,10 @@ MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, i
// Compute cvel, cdof_dot. // Compute cvel, cdof_dot.
MJAPI void mj_comVel(const mjModel* m, mjData* d); 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); 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); MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term. // RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.
introspect/functions.py
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@@ -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', ('mj_subtreeVel',
FunctionDecl( 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', ('mj_rne',
FunctionDecl( FunctionDecl(