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Update simulation.rst

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Paweł Budzianowski
2025-05-06 16:46:46 -07:00
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doc/programming/simulation.rst
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@@ -913,7 +913,7 @@ elliptic, depending on which solver is selected in ``mjModel.opt``. The function
can be used to determine which friction cone type is used. For pyramidal cones, the interpretation of the contact force
(whose address we computed above) is non-trivial, because the components are forces along redundant non-orthogonal axes
corresponding to the edges of the pyramid. The function :ref:`mj_contactForce` can be
used to convert the force generated by a given contact into a more intuitive format: a 3D force followed by a 3D toque.
used to convert the force generated by a given contact into a more intuitive format: a 3D force followed by a 3D torque.
The torque component will be zero when :at:`condim` is 1 or 3, and non-zero otherwise. This force and torque are
expressed in the contact frame given by mjContact.frame. Unlike all other matrices in mjData, this matrix is stored in
transposed form. Normally a 3-by-3 matrix corresponding to a coordinate frame would have the frame axes along the