chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update simulation.rst

Browse Source 
Add missing backticks to `mjData.xfrc_applied`
This commit is contained in:
Alessandro Croci
2025-01-08 14:27:46 +01:00
committed by GitHub
parent 661c3e01dc
commit 7a6bf06706
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/programming/simulation.rst
+1 -1
View File
@@ -286,7 +286,7 @@ Next we turn to the controls and applied forces. The control vector in MuJoCo is
u = (mjData.ctrl, mjData.qfrc_applied, mjData.xfrc_applied) u = (mjData.ctrl, mjData.qfrc_applied, mjData.xfrc_applied)
These quantities specify control signals (``mjData.ctrl``) for the actuators defined in the model, or directly apply These quantities specify control signals (``mjData.ctrl``) for the actuators defined in the model, or directly apply
forces and torques specified in joint space (``mjData.qfrc_applied``) or in Cartesian space (mjData.xfrc_applied). forces and torques specified in joint space (``mjData.qfrc_applied``) or in Cartesian space (``mjData.xfrc_applied``).
Finally, calling mj_forward which corresponds to the abstract dynamics function ``f(t,x,u)`` computes the Finally, calling mj_forward which corresponds to the abstract dynamics function ``f(t,x,u)`` computes the
time-derivative of the state vector. The corresponding fields of mjData are time-derivative of the state vector. The corresponding fields of mjData are