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Fix various typos in doc.

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PiperOrigin-RevId: 464730883
Change-Id: Id90d7ca07dddbe2b7a991d0d018c9145fae3c698
This commit is contained in:
Kevin Zakka
2022-08-02 01:46:19 -07:00
committed by Copybara-Service
parent f15bcd04b5
commit f71daed66f
2 changed files with 9 additions and 10 deletions
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doc/XMLreference.rst
+8 -9
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@@ -4527,7 +4527,7 @@ This element has one custom attribute in addition to the common attributes:
:el-prefix:`actuator/` **cylinder** (*) :el-prefix:`actuator/` **cylinder** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is suitable for modeling pneumatic or hidraulic cylinders. The underlying :el:`general` attributes are This element is suitable for modeling pneumatic or hydraulic cylinders. The underlying :el:`general` attributes are
set as follows: set as follows:
========= ======= ========= ============= ========= ======= ========= =============
@@ -4616,11 +4616,11 @@ This element has nine custom attributes in addition to the common attributes:
:height: 200px :height: 200px
This element defines an active adhesion actuator which injects force at contacts in the normal direction. On the right This element defines an active adhesion actuator which injects force at contacts in the normal direction. On the right
is a video demonstrating the this actuator type. The model shown in the video can be found `here is a video demonstrating this actuator type. The model shown in the video can be found `here
<https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_. The transmission target is a :el:`body`, and adhesive <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_. The transmission target is a :el:`body`, and adhesive
forces are injected into all contacts invloving geoms which belong to this body. The force is devided equally between forces are injected into all contacts involving geoms which belong to this body. The force is divided equally between
multiple active contacts. Because it requires contact, it cannot apply force at a distance, and is more like the active multiple active contacts. Because it requires contact, it cannot apply a force at a distance, and is more like the active
adhesion on the feet of geckos and insects rather than an industrial vaccum gripper. Adhesion actuators' length is adhesion on the feet of geckos and insects rather than an industrial vacuum gripper. Adhesion actuators' length is
always 0. :at:`ctrlrange` is required and must also be nonnegative (no repulsive forces are allowed). The underlying always 0. :at:`ctrlrange` is required and must also be nonnegative (no repulsive forces are allowed). The underlying
:el:`general` attributes are set as follows: :el:`general` attributes are set as follows:
@@ -4633,7 +4633,6 @@ biastype none biasprm 0 0 0
trntype body ctrllimited true trntype body ctrllimited true
=========== ======= =========== ======== =========== ======= =========== ========
This element has a subset of the common attributes and two custom attributes. This element has a subset of the common attributes and two custom attributes.
.. |actuator/adhesion attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, .. |actuator/adhesion attrib list| replace:: :at:`name`, :at:`class`, :at:`group`,
@@ -4644,9 +4643,9 @@ This element has a subset of the common attributes and two custom attributes.
:at:`body`: :at-val:`string, required` :at:`body`: :at-val:`string, required`
The actuator acts on all contacts involving this body's geoms. The actuator acts on all contacts involving this body's geoms.
:at:`gain`: :at-val:`real, "1"` :at:`gain`: :at-val:`real, "1"`
Gain of the adhesion actuator, units of force. The total adhesion force applied by the actuator is the control value Gain of the adhesion actuator, in units of force. The total adhesion force applied by the actuator is the control
multiplied by the gain. This force is distributed equally between all the contacts involving geoms belonging to the value multiplied by the gain. This force is distributed equally between all the contacts involving geoms belonging
target body. to the target body.
.. _sensor: .. _sensor:
doc/changelog.rst
+1 -1
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@@ -19,7 +19,7 @@ General
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
- Fixed rendering of some transparent geoms in relflection. - Fixed rendering of some transparent geoms in reflection.
Version 2.2.1 (July 18, 2022) Version 2.2.1 (July 18, 2022)
----------------------------- -----------------------------