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Fix typo.

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Ruiyu G
2023-06-22 16:39:44 -07:00
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doc/computation.rst
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@@ -108,7 +108,7 @@ optimization algorithms.
Inverse dynamics and optimization Inverse dynamics and optimization
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The objective of inverse dynamics it to recover the applied force and contact force given the position, velocity and The objective of inverse dynamics is to recover the applied force and contact force given the position, velocity and
acceleration of the multi-joint system. With hard contacts this computation is impossible. Consider pushing against a acceleration of the multi-joint system. With hard contacts this computation is impossible. Consider pushing against a
wall without moving. The contact force cannot be recovered from the kinematics, unless of course we consider the wall without moving. The contact force cannot be recovered from the kinematics, unless of course we consider the
material deformations - in which case we need a soft contact model. Inverse dynamics are trivial to compute with material deformations - in which case we need a soft contact model. Inverse dynamics are trivial to compute with