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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 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. the rest of the system, but that would be less efficient.
:at:`site` :at:`body`
:at:`site` transmission (without a :at:`refsite`, see below) and :at:`body` transmission targets have a fixed zero :el:`body` transmission corresponds to applying forces at contact points belonging to a body, in
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
order to model vacuum grippers and biomechanical adhesive appendages. For more information about adhesion, see the 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 :at:`site`
applied in the frame of the reference site rather than the site's own frame. If a reference site is defined then Site transmissions correspond to applying a Cartsian force/torque in the frame of a site, and are useful for
the length of the actuator is nonzero and corresponds to the pose difference of the two sites. This length can then modeling jets and propellors. When a :at:`refsite` is not defined (see below), these targets have a fixed zero
be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the length :math:`l_i(q) = 0`.
:ref:`refsite<actuator-general-refsite>` documentation for more details.
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: .. _geActivation: