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Merge pull request #770 from jonas-eschmann:patch-1

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PiperOrigin-RevId: 517174871
Change-Id: I9a52f6bc79777fb7d987eaf057185d9c0e87e477
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Copybara-Service
2023-03-16 11:15:11 -07:00
parent 81ba9ec54a 1fa538a43b
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@@ -49,7 +49,7 @@ Soft, convex and analytically-invertible contact dynamics
based on a different formulation of the physics of contact which reduces to a convex optimization problem, as
explained in detail in the :doc:`computation` chapter. Our model allows soft contacts and other constraints, and has
a uniquely-defined inverse facilitating data analysis and control applications. There is a choice of optimization
algorithms, including a generalization to the projected Gauss-Siedel method that can handle elliptic friction cones.
algorithms, including a generalization to the projected Gauss-Seidel method that can handle elliptic friction cones.
The solver provides unified treatment of frictional contacts including torsional and rolling friction, frictionless
contacts, joint and tendon limits, dry friction in joints and tendons, as well as a variety of equality constraints.