From f19d5d2f289180d93f1cab7f62c21c1ac38f7362 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 9 Jan 2023 04:03:41 -0800 Subject: [PATCH] Fix typo in mujoco.h PiperOrigin-RevId: 500675056 Change-Id: Ie4958609563b2826cc4965b42ad4d22248c733ef --- include/mujoco/mujoco.h | 2 +- introspect/functions.py | 2 +- src/engine/engine_forward.h | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index a5769bbf..09d5f607 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -246,7 +246,7 @@ MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d); // Compute actuator force qfrc_actuator. MJAPI void mj_fwdActuation(const mjModel* m, mjData* d); -// Add up all non-constraint forces, compute qacc_unc. +// Add up all non-constraint forces, compute qacc_smooth. MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d); // Run selected constraint solver. diff --git a/introspect/functions.py b/introspect/functions.py index 205e8420..a01efd2d 100644 --- a/introspect/functions.py +++ b/introspect/functions.py @@ -1018,7 +1018,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Add up all non-constraint forces, compute qacc_unc.', + doc='Add up all non-constraint forces, compute qacc_smooth.', )), ('mj_fwdConstraint', FunctionDecl( diff --git a/src/engine/engine_forward.h b/src/engine/engine_forward.h index 4b2f7e6b..f70d2f07 100644 --- a/src/engine/engine_forward.h +++ b/src/engine/engine_forward.h @@ -76,7 +76,7 @@ MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d); // compute actuator force MJAPI void mj_fwdActuation(const mjModel* m, mjData* d); -// add up all non-constraint forces, compute qacc_unc +// add up all non-constraint forces, compute qacc_smooth MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d); // forward constraint