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Fix typos in MuJoCo documentation.

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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
This commit is contained in:
Google DeepMind
2024-07-25 13:30:10 -07:00
committed by Copybara-Service
parent 5ac5cfb618
commit 70d70bc3b7
11 changed files with 20 additions and 20 deletions
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doc/APIreference/functions.rst
+4 -4
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@@ -323,7 +323,7 @@ frame (``point``) treated as attached to the body, the Jacobian has both transla
(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
respect to the degrees-of-freedom. The :ref:`pipeline stages<piStages>` required for Jacobian computations to be
consistenst with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos`.
consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos`.
.. _mj_jacBody:
@@ -1882,7 +1882,7 @@ Twice continuously differentiable sigmoid function using a quintic polynomial:
Interaction
^^^^^^^^^^^
These function implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
These functions implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
illustrated in :ref:`simulate<saSimulate>`.
.. _mjv_defaultCamera:
@@ -2066,8 +2066,8 @@ an illustration.
Visualization
^^^^^^^^^^^^^
The functions in this section implement abstract visualization. The results are used by the OpenGL rendered, and can
also be used by users wishing to implement their own rendered, or hook up MuJoCo to advanced rendering tools such as
The functions in this section implement abstract visualization. The results are used by the OpenGL renderer, and can
also be used by users wishing to implement their own renderer, or hook up MuJoCo to advanced rendering tools such as
Unity or Unreal Engine. See :ref:`simulate<saSimulate>` for illustration of how to use these functions.
.. _mjv_defaultOption:
doc/APIreference/functions_override.rst
+4 -4
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@@ -180,7 +180,7 @@ frame (``point``) treated as attached to the body, the Jacobian has both transla
(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
respect to the degrees-of-freedom. The :ref:`pipeline stages<piStages>` required for Jacobian computations to be
consistenst with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos`.
consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos`.
.. _mj_jacBody:
@@ -270,7 +270,7 @@ bodyexclude=-1 can be used to indicate that all bodies are included.
.. _Interaction:
These function implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
These functions implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
illustrated in :ref:`simulate<saSimulate>`.
.. _mjv_select:
@@ -283,8 +283,8 @@ an illustration.
.. _Visualization-api:
The functions in this section implement abstract visualization. The results are used by the OpenGL rendered, and can
also be used by users wishing to implement their own rendered, or hook up MuJoCo to advanced rendering tools such as
The functions in this section implement abstract visualization. The results are used by the OpenGL renderer, and can
also be used by users wishing to implement their own renderer, or hook up MuJoCo to advanced rendering tools such as
Unity or Unreal Engine. See :ref:`simulate<saSimulate>` for illustration of how to use these functions.
.. _OpenGLrendering: