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fix typos

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This commit is contained in:
Peter Mitrano
2023-05-09 20:59:43 +00:00
parent 1aadef5927
commit 73fde667a5
2 changed files with 2 additions and 2 deletions
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doc/APIreference/functions.rst
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@@ -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 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 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 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). sanity check).
The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was
doc/APIreference/functions_override.rst
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@@ -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 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 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 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). sanity check).
The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was