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Various documentation improvements.

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- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.

PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
This commit is contained in:
Yuval Tassa
2024-09-09 11:34:35 -07:00
committed by Copybara-Service
parent 4862b9e765
commit be00fafc43
5 changed files with 42 additions and 82 deletions
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doc/APIreference/functions.rst
+4 -3
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@@ -322,9 +322,10 @@ degrees-of-freedom and a given point. Given a body specified by its integer id (
frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
respect to the degrees-of-freedom. The :ref:`pipeline stages<piStages>` required for Jacobian computations to be
consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos` (in
that order).
respect to the degrees-of-freedom. The frame with respect to which the Jacobian is computed is centered at the body
center-of-mass but aligned with the world frame. The minimal :ref:`pipeline stages<piForward>` required for Jacobian
computations to be consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` followed
by :ref:`mj_comPos`.
.. _mj_jacBody:
doc/APIreference/functions_override.rst
+4 -3
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@@ -191,9 +191,10 @@ degrees-of-freedom and a given point. Given a body specified by its integer id (
frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
respect to the degrees-of-freedom. The :ref:`pipeline stages<piStages>` required for Jacobian computations to be
consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos` (in
that order).
respect to the degrees-of-freedom. The frame with respect to which the Jacobian is computed is centered at the body
center-of-mass but aligned with the world frame. The minimal :ref:`pipeline stages<piForward>` required for Jacobian
computations to be consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` followed
by :ref:`mj_comPos`.
.. _mj_jacBody: