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Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.

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PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
This commit is contained in:
Yuval Tassa
2023-08-14 07:18:03 -07:00
committed by Copybara-Service
parent abfa08f6cd
commit a276c49c30
9 changed files with 29 additions and 26 deletions
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doc/changelog.rst
+4 -1
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@@ -12,6 +12,9 @@ General
the exact formula rather than with Euler integration.
#. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
#. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
:ref:`actuatorfrclimited<body-joint-actuatorfrclimied>`, respectively.
Python bindings
^^^^^^^^^^^^^^^
@@ -26,7 +29,7 @@ General
^^^^^^^
1. Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
#. Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
#. Added :ref:`joint-actuatorforcerange<body-joint-actuatorfrcrange>` for clamping total actuator force at joints and
:ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
most important use case for joint-level actuator force clamping is to ensure that
:ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.