Correct dimensions for constraint-related quantities in documentation.

PiperOrigin-RevId: 856159539 Change-Id: I83f0414a78239cae9c91bb51b16f5e2549891517
2026-01-14 04:53:32 -08:00
parent 218226fc95
commit e50e2e9691
1 changed files with 3 additions and 3 deletions
@@ -184,16 +184,16 @@ mathematical notation.
     - inertia in joint space
     - ``mjData.qM``
   * - :math:`J(q)`
-     - :math:`\nq \times \nv`
+     - :math:`\nc \times \nv`
     - constraint
       Jacobian
     - ``mjData.efc_J``
   * - :math:`r(q)`
-     - :math:`\nq`
+     - :math:`\nc`
     - constraint residual
     - ``mjData.efc_pos``
   * - :math:`f(q, v,\tau)`
-     - :math:`\nq`
+     - :math:`\nc`
     - constraint force
     - ``mjData.efc_force``