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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/XMLreference.rst
+9 -9
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@@ -2066,8 +2066,8 @@ rotations as unit quaternions.
The **ball** type creates a ball joint with three rotational degrees of freedom. The rotation is represented as a
unit quaternion. The quaternion (1,0,0,0) corresponds to the initial configuration in which the model is defined. Any
other quaternion is interpreted as a 3D rotation relative to this initial configuration. The rotation is around the
point defined by the pos attribute below. If a body has a ball joint, it cannot have other rotational joints (ball or
hinge). Combining ball joints with slide joints in the same body is allowed.
point defined by the :ref:`pos<body-joint-pos>` attribute. If a body has a ball joint, it cannot have other
rotational joints (ball or hinge). Combining ball joints with slide joints in the same body is allowed.
The **slide** type creates a sliding or prismatic joint with one translational degree of freedom. Such joints are
defined by a position and a sliding direction. For simulation purposes only the direction is needed; the joint
@@ -2139,10 +2139,10 @@ rotations as unit quaternions.
.. _body-joint-limited:
:at:`limited`: :at-val:`[false, true, auto], "auto"`
This attribute specifies if the joint has limits. It interacts with the range attribute below. If this attribute
is "false", joint limits are disabled. If this attribute is "true", joint limits are enabled. If this
attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, joint limits will be enabled
if range is defined.
This attribute specifies if the joint has limits. It interacts with the :ref:`range<body-joint-range>` attribute. If
this attribute is "false", joint limits are disabled. If this attribute is "true", joint limits are enabled. If this
attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, joint limits will be enabled if range
is defined.
.. _body-joint-actuatorfrcrange:
@@ -2157,9 +2157,9 @@ rotations as unit quaternions.
:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
This attribute specifies whether actuator forces acting on the joint should be clamped. See :ref:`CForceRange` for
details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| This
attribute interacts with the actuatorfrcrange attribute below. If this attribute is "false", actuator force
clamping is disabled. If it is "true", actuator force clamping is enabled. If this attribute is "auto", and
:at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will be enabled if
attribute interacts with the :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` attribute. If this attribute is
"false", actuator force clamping is disabled. If it is "true", actuator force clamping is enabled. If this attribute
is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will be enabled if
:at:`actuatorfrcrange` is defined.
.. _body-joint-actuatorgravcomp: