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Improvements to transmission documentation.

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PiperOrigin-RevId: 590694542
Change-Id: I9dc25655116c9300061095c2a2b701530bbbbeca
This commit is contained in:
Yuval Tassa
2023-12-13 13:21:43 -08:00
committed by Copybara-Service
parent 4bbb19144e
commit 537d649e95
1 changed files with 14 additions and 11 deletions
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doc/computation/index.rst
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@@ -300,19 +300,22 @@ is attached; the possible attachment object types are :at:`joint`, :at:`tendon`,
Slider-cranks can also be modeled explicitly by creating MuJoCo bodies and coupling them with equality constraints to
the rest of the system, but that would be less efficient.
:at:`site`
:at:`site` transmission (without a :at:`refsite`, see below) and :at:`body` transmission targets have a fixed zero
length :math:`l_i(q) = 0`. They can therefore not be used to maintain a desired length, but can be used to apply
forces. Site transmissions correspond to applying a Cartsian force/torque at the site, and are useful for modeling
jets and propellors. :el:`body` transmissions correspond to applying forces at contact points belonging to a body, in
:at:`body`
:el:`body` transmission corresponds to applying forces at contact points belonging to a body, in
order to model vacuum grippers and biomechanical adhesive appendages. For more information about adhesion, see the
:ref:`adhesion<actuator-adhesion>` actuator documentation.
:ref:`adhesion<actuator-adhesion>` actuator documentation. These transmission targets have a fixed zero length
:math:`l_i(q) = 0`.
If a :at:`site` transmission target is defined with the optional :at:`refsite` attribute, forces and torques are
applied in the frame of the reference site rather than the site's own frame. If a reference site is defined then
the length of the actuator is nonzero and corresponds to the pose difference of the two sites. This length can then
be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the
:ref:`refsite<actuator-general-refsite>` documentation for more details.
:at:`site`
Site transmissions correspond to applying a Cartsian force/torque in the frame of a site, and are useful for
modeling jets and propellors. When a :at:`refsite` is not defined (see below), these targets have a fixed zero
length :math:`l_i(q) = 0`.
If a :at:`site` transmission is defined with the optional :at:`refsite` attribute, forces and torques are applied in
the frame of the reference site rather than the site's own frame. If a reference site is defined, the length of the
actuator is nonzero and corresponds to the pose difference of the two sites, projected onto a chosen direction in the
reference frame. This length can then be controlled with a :el:`position` actuator, allowing for Cartesian
end-effector control. See the :ref:`refsite<actuator-general-refsite>` documentation for more details.
.. _geActivation: