From 73fde667a5b9682f4bb0bcd88e15e6b38677edff Mon Sep 17 00:00:00 2001 From: Peter Mitrano Date: Tue, 9 May 2023 20:59:43 +0000 Subject: [PATCH] fix typos --- doc/APIreference/functions.rst | 2 +- doc/APIreference/functions_override.rst | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst index ebc4b48a..c81f9cb8 100644 --- a/doc/APIreference/functions.rst +++ b/doc/APIreference/functions.rst @@ -72,7 +72,7 @@ be set before calling this function. Given the state (qpos, qvel, act), mj_forwa while mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but numerically this may not always be the case because the forward dynamics rely on a constraint optimization algorithm which is usually terminated early. The difference between the results of forward and inverse dynamics can be computed -with the function :ref:`mj_compareFwdInv`, which can be though of as another solver accuracy check (as well as a general +with the function :ref:`mj_compareFwdInv`, which can be thought of as another solver accuracy check (as well as a general sanity check). The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was diff --git a/doc/APIreference/functions_override.rst b/doc/APIreference/functions_override.rst index cf199b5a..83dce986 100644 --- a/doc/APIreference/functions_override.rst +++ b/doc/APIreference/functions_override.rst @@ -47,7 +47,7 @@ be set before calling this function. Given the state (qpos, qvel, act), mj_forwa while mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but numerically this may not always be the case because the forward dynamics rely on a constraint optimization algorithm which is usually terminated early. The difference between the results of forward and inverse dynamics can be computed -with the function :ref:`mj_compareFwdInv`, which can be though of as another solver accuracy check (as well as a general +with the function :ref:`mj_compareFwdInv`, which can be thought of as another solver accuracy check (as well as a general sanity check). The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was