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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 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 (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 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 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 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 transposed form. Normally a 3-by-3 matrix corresponding to a coordinate frame would have the frame axes along the