Update the documentation of constraint

docs/source/constraints.rst

@@ -7,6 +7,9 @@ We also provide a util class to compute the constraints. The ``ConstraintList``
 is a collection of the ``Constraint`` instances that is available in ``env_info``. Here
 is an simple example explaining how to use the constraint functions.
 
+The constraints has the form:
+:math:`f(q) < 0`
+
 Here is an example of how to access the constraints:
 
 .. literalinclude:: examples/constraints.py
@@ -24,18 +27,24 @@ We also list all of the available constraint here:
    * - JointPositionConstraint
      - "joint_pos_constr"
      - 2 * num_joints
-     - :math:`l_x < p_x,`
-
-       :math:`l_y < p_y < u_y,`
+     - :math:`q_i - q_{u, i} < 0`,
 
-       :math:`p_z > \mathrm{table\,height - tolerance}`,
-
-       :math:`p_z < \mathrm{table\, height + tolerance}`.
+       :math:`-q_i + q_{l, i} < 0`
    * - JointVelocityConstraint
      - "joint_vel_constr"
      - 2 * num_joints
-     - :math:`q_l < q_{cmd} < q_u`
+     - :math:`\dot{q}_i - \dot{q}_{u, i} < 0`,
+
+       :math:`-\dot{q}_i + \dot{q}_{l, i} < 0`
    * - EndEffectorConstraint
      - "ee_constr"
      - 5
-     - :math:`\dot{q}_l < \dot{q}_{cmd} < \dot{q}_u`
+     - :math:`- p_x(q) + l_x < 0`,
+
+       :math:`- p_y(q) + l_y < 0`,
+
+       :math:`p_y(q) - u_y < 0`,
+
+       :math:`- p_z(q) + \mathrm{table\,height - tolerance} < 0`,
+
+       :math:`p_z(q) - \mathrm{table\,height - tolerance} < 0`,