From 0babdff496d899279263275863b268150e8eacbe Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Tue, 12 Dec 2023 15:21:05 +0100 Subject: [PATCH] Fix typos in README --- README.md | 4 ++-- docs/index.rst | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 775bca042..176cd8dbe 100644 --- a/README.md +++ b/README.md @@ -21,7 +21,7 @@ - Revolute, prismatic, and fixed joints support. - Integrators: forward Euler, semi-implicit Euler, Runge-Kutta 4. - High-level classes for object-oriented programming. -- High-level classes to compute multi-body dynamics quantities from simulation state. +- High-level classes to compute multi-body dynamics quantities from the simulation state. - High-level classes wrapping the low-level functional RBDAs with support of [multiple velocities representations][notation]. - Default validation of JAX pytrees to prevent JIT re-compilations. - Preliminary support for automatic differentiation of RBDAs. @@ -70,7 +70,7 @@ Here below we summarize the differences between the projects: - JAXsim supports SDF (and, indirectly, URDF) models, assuming the model is described with the recent [Pose Frame Semantics][PFS]. - Contrarily to brax, JAXsim only supports collision detection between bodies and a compliant ground surface. -- The RBDAs of JAXsim support automatic differentiation, but this functionality has not being thoroughly tested. +- The RBDAs of JAXsim support automatic differentiation, but this functionality has not been thoroughly tested. [brax]: https://github.com/google/brax [mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html diff --git a/docs/index.rst b/docs/index.rst index 8112c3c98..c32db0dfe 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -58,7 +58,7 @@ Here below we summarize the differences between the projects: - JAXsim supports SDF (and, indirectly, URDF) models, assuming the model is described with the recent `Pose Frame Semantics `_. - Contrarily to brax, JAXsim only supports collision detection between bodies and a compliant ground surface. -- The RBDAs of JAXsim support automatic differentiation, but this functionality has not being thoroughly tested. +- The RBDAs of JAXsim support automatic differentiation, but this functionality has not been thoroughly tested. Contributing ------------