Skip to content

style(docs): use American English spelling per STYLEGUIDE #2586

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

style(docs): use American English spelling per STYLEGUIDE #2586

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions python/LQR.ipynb
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -298,7 +298,7 @@
"source": [
"## Stable standing on one leg\n",
"\n",
"Clearly this initial pose is not stable. We'll try to find a stabilising control law using a [Linear Quadratic Regulator](https://en.wikipedia.org/wiki/Linear%E2%80%93quadratic_regulator)."
"Clearly this initial pose is not stable. We'll try to find a stabilizing control law using a [Linear Quadratic Regulator](https://en.wikipedia.org/wiki/Linear%E2%80%93quadratic_regulator)."
]
},
{
Expand Down Expand Up @@ -358,7 +358,7 @@
"A = \\frac{\\partial f}{\\partial x} \\quad\n",
"B = \\frac{\\partial f}{\\partial u}\n",
"$$\n",
"In order to perform the linearization, we need to choose some setpoints $x$ and $u$ around which we will linearize. We already know $x$, this is our initial pose of standing on one leg. But what about $u$? How do we find the \"best\" control around which to linearise?\n",
"In order to perform the linearization, we need to choose some setpoints $x$ and $u$ around which we will linearize. We already know $x$, this is our initial pose of standing on one leg. But what about $u$? How do we find the \"best\" control around which to linearize?\n",
"\n",
"The answer is inverse dynamics."
]
Expand Down Expand Up @@ -786,7 +786,7 @@
"source": [
"### Stable standing\n",
"\n",
"We can now try our stabilising controller.\n",
"We can now try our stabilizing controller.\n",
"\n",
"Note that in order to apply our gain matrix $K$, we need to use `mj_differentiatePos` which computes the difference of two positions. This is important because the root orientation is given by a length-4 quaternion, while the difference of two quaternions (in the tangent space) is length-3. In MuJoCo notation, positions (`qpos`) are of size `nq` while a position differences (and velocities) are of size `nv`.\n"
]
Expand Down Expand Up @@ -867,7 +867,7 @@
"mujoco.mjv_defaultFreeCamera(model, camera)\n",
"camera.distance = 2.3\n",
"\n",
"# Enable contact force visualisation.\n",
"# Enable contact force visualization.\n",
"scene_option = mujoco.MjvOption()\n",
"scene_option.flags[mujoco.mjtVisFlag.mjVIS_CONTACTFORCE] = True\n",
"\n",
Expand Down