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Merge pull request #860 from PeterMitrano:main

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PiperOrigin-RevId: 531458260
Change-Id: I551e6c6be5d6a15426e6aa60beb27d64591bc66a
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Copybara-Service
2023-05-12 03:34:33 -07:00
parent 0d0a41d549 73fde667a5
commit 777cad52b4
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
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
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
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