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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/modeling.rst
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@@ -607,7 +607,7 @@ Force clamping at actuator output with :ref:`forcerange<actuator-general-forcera
:ref:`position actuators<actuator-position>`, to keep the forces within bounds. Note that position actuators
usually also require control range clamping to avoid hitting joint limits.
Force clamping at joint input with :ref:`joint/actuatorforcerange<body-joint-actuatorforcerange>`:
Force clamping at joint input with :ref:`joint/actuatorfrcrange<body-joint-actuatorfrcrange>`:
This joint attribute clamps input forces from all actuators acting on the joint, after passing through the
:ref:`transmission<geTransmission>`. Clamping actuator forces at the joint is equivalent to clamping them at the
actuator if the transmission is trivial (there is a one-to-one relationship between the actuator and the joint).