diff --git a/doc/APIreference.rst b/doc/APIreference.rst
index 713a3eed..f8cd48fa 100644
--- a/doc/APIreference.rst
+++ b/doc/APIreference.rst
@@ -6586,10 +6586,8 @@ mjd_transitionFD
 
    void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered, mjtNum* A, mjtNum* B);
 
-Finite differenced state-transition and control-transition matrices dx(t+h) = A*dx(t) + B*du(t).
-  required output matrix dimensions:
-     A: (2*nv+na x 2*nv+na)
-     B: (2*nv+na x nu)
+Finite differenced state-transition and control-transition matrices dx(t+h) = A*dx(t) + B*du(t). Required output matrix
+dimensions: A: (2*nv+na x 2*nv+na), B: (2*nv+na x nu).
 
 .. _Macros: