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Merge pull request #949 from Ein04:patch-1

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PiperOrigin-RevId: 544517699
Change-Id: Ic12feb62f3e90d93b1be122a90f0a6fe062ac411
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Copybara-Service
2023-06-29 18:32:37 -07:00
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doc/computation.rst
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@@ -108,7 +108,7 @@ optimization algorithms.
Inverse dynamics and optimization Inverse dynamics and optimization
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The objective of inverse dynamics it to recover the applied force and contact force given the position, velocity and The objective of inverse dynamics is to recover the applied force and contact force given the position, velocity and
acceleration of the multi-joint system. With hard contacts this computation is impossible. Consider pushing against a acceleration of the multi-joint system. With hard contacts this computation is impossible. Consider pushing against a
wall without moving. The contact force cannot be recovered from the kinematics, unless of course we consider the wall without moving. The contact force cannot be recovered from the kinematics, unless of course we consider the
material deformations - in which case we need a soft contact model. Inverse dynamics are trivial to compute with material deformations - in which case we need a soft contact model. Inverse dynamics are trivial to compute with
@@ -291,7 +291,7 @@ is attached; the possible attachment object types are :at:`joint`, :at:`tendon`,
:ref:`adhesion<actuator-adhesion>` actuator documentation. :ref:`adhesion<actuator-adhesion>` actuator documentation.
If a :at:`site` transmission target is defined with the optional :at:`refsite` attribute, forces and torques are 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 the site's own frame. If a reference site is defined then 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 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 :at:`refsite` be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the :at:`refsite`
documentation in :ref:`actuator<actuator-general>` reference for more details. documentation in :ref:`actuator<actuator-general>` reference for more details.