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Correct dimensions for constraint-related quantities in documentation.

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