From fa1536c2de47ede4dfa184a9139ed7217424ad99 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Tue, 19 Jul 2022 11:26:47 -0700 Subject: [PATCH] Nit fixes to documentation. PiperOrigin-RevId: 461932200 Change-Id: I3f929e09239c526b1686aa65641e47e759d32827 --- doc/computation.rst | 4 ++-- doc/programming.rst | 2 ++ 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/doc/computation.rst b/doc/computation.rst index adb0d4a9..5ceabc1c 100644 --- a/doc/computation.rst +++ b/doc/computation.rst @@ -1519,14 +1519,14 @@ The top-level function :ref:`mj_inverse` invokes the following sequence of compu Derivatives ----------- -MuJoCo's entire computational pipline and uniquely -- its contraint solver -- are analytically differentiable. Writing +MuJoCo's entire computational pipline and uniquely -- its constraint solver -- are analytically differentiable. Writing efficient implementations of these derivatives is a long term goal of the development team. Analytic derivatives of the smooth dynamics with respect to velocity are already in place and power the :ref:`implicit integrator`. The function ``mjd_transitionFD`` computes state-transition and control-transition Jacobians. Given any valid MuJoCo model ``mjModel* m`` with an initial :ref:`simulation state` in ``mjData* d``, -- let :math:`x` denote the *physics state* of the simulation at time :math:`t` -- the concatenation of positions, +- Let :math:`x` denote the *physics state* of the simulation at time :math:`t` -- the concatenation of positions, velocities and actuator states ``[d->qpos; d->qvel; d->act]``. - Let :math:`u` denote the vector of controls at time :math:`t`, corresponding to ``d->ctrl``. - Let :math:`y` denote the physical state of the simulation at time :math:`t+h`, where :math:`h` corresponds to diff --git a/doc/programming.rst b/doc/programming.rst index 5a7966a2..6c8756ae 100644 --- a/doc/programming.rst +++ b/doc/programming.rst @@ -226,6 +226,8 @@ mjui\_ mjcb\_ Global callback function pointer, for example :ref:`mjcb_control`. The user can install custom callbacks by setting these global pointers to user-defined functions. +mjd\_ + Functions for computing derivatives, for example :ref:`mjd_transitionFD`. .. _inOpenGL: