Merge branch 'master' of github.com:rhoban/placo

Author: Gregwar

docs/dynamics/contacts.rst

@@ -14,9 +14,8 @@ To do so, the solver will add **extra forces** as decision variables.
 
 However, physical constraints sometime don't handle all the aspects of a task.
 Even if a foot can't penetrate the ground, it can still lift up, no force will prevent it
-(this is an unilateral contact).
+(this is a unilateral contact).
 Also, because of the friction coefficient, the ground can't prevent the foot from sliding, this
-depends on the relation between the normal force and thet tangential force.
+depends on the relation between the normal force and the tangential force.
 For those reasons, some specific contacts are implemented in PlaCo.
 
-

docs/dynamics/external_wrench_contact.rst

@@ -10,9 +10,9 @@ An external wrench contact can be used to apply an external force and/or moments
     # Adding an external wrench, which will be expressed in the world
     # and applied on  the right foot
     external_wrench = solver.add_external_wrench_contact("right_foot", "world")
-    
+
     # Setting the wrench (force, moments)
-    exexternal_wrench.w_ext = np.array([10, 0, 0, 0, 0, 0])
+    external_wrench.w_ext = np.array([10, 0, 0, 0, 0, 0])
 
 .. admonition:: Humanoid with external force applied
 

docs/dynamics/introduction.rst

@@ -37,8 +37,8 @@ This is the default in the solver, allowing to reduce the number of parameters t
 The good news in the dynamics solver, is that the equation of motion is enforced!
 
 It allows to express the torque :math:`\tau` as a function of the acceleration and robot state (see below for
-details if you are interrested).
-In practice, this allows to use torque in constraint and tasks.
+details if you are interested).
+In practice, this allows to use torque in constraints and tasks.
 The very first natural constraints are torque limits, accounting better for the robot abilities.
 
 
@@ -53,15 +53,15 @@ while in the dynamics solver, the contacts **must** be properly specified in ord
 
 To that end, the dynamics solver allow you to specify active contacts, that are used in the computation.
 
-.. warning:: 
+.. warning::
 
     Keep in mind that the dynamics solver is **not** a trajectory planner.
     It is trying to solve for the joints acceleration (and, by extension, the torque) in order to be as close as
     possible to the task's desired accelerations, while respecting the constraints.
     However, it is near-sighted, and will not plan for the future.
 
     For example, it is not able to start decelerating before reaching a target, or to anticipate a contact.
-    
+
 
 .. admonition:: Math details
 
@@ -73,4 +73,4 @@ To that end, the dynamics solver allow you to specify active contacts, that are
     :math:`F_i` is the external force for the :math:`i`-th contact, :math:`M(q)` is the mass matrix,
     and :math:`h(q, \dot q)` is the bias term (lumping gravity, centrifugal and coriolis).
 
-    The decision variables are :math:`\ddot q` and the contact forces :math:`F_i`.
+    The decision variables are :math:`\ddot q` and the contact forces :math:`F_i`.

docs/dynamics/joints_task.rst

@@ -5,10 +5,10 @@ A :func:`JointsTask <placo.DynamicsJointsTask>` is a task that can be used to de
 
 .. warning::
 
-    While it is possible to explicitely set a joint value by using :func:`set_joint() <placo.RobotWrapper.set_joint>`
+    While it is possible to explicitly set a joint value by using :func:`set_joint() <placo.RobotWrapper.set_joint>`
     on the robot wrapper (see :doc:`joints configurations </basics/configurations>`),
     it is **not** equivalent to using a joint task.
-    
+
     Using the joints task will allow to account for everything
     that the solver is enforcing (torque limits, joint limits, joint velocity limits, other tasks such as loops
     closing constraints etc...), while :func:`set_joint() <placo.RobotWrapper.set_joint>` will immediately update
@@ -40,7 +40,7 @@ You can configure the task by passing a ``dict`` to :func:`set_joints() <placo.D
 
 .. note::
 
-    Unit values will depend on the joint types, it will be *radians* for revolute joints and *meters* for prismatic
+    Unit values will depend on the joint types, it will be *radians* for revolute joints and *meters* for prismatic joints.
 
 To specify the target velocity and acceleration, you can call :func:`set_joints() <placo.DynamicsJointsTask.set_joint>`
 on individual joints:
@@ -57,7 +57,7 @@ Here is a complete example using a UR5 robot tracking a target frame.
 Its target velocity is also set for better tracking.
 
 .. admonition:: UR5 controlled with joints
-    
+
     .. video:: https://github.com/Rhoban/placo-examples/raw/master/dynamics/videos/ur5_joints.mp4
         :autoplay:
         :muted:
@@ -66,4 +66,4 @@ Its target velocity is also set for better tracking.
     In this example, a fixed contact is used on the base of the UR5 robot, which is following a sinusoidal
     joint-space trajectory.
 
-    :example:`dynamics/ur5_joints.py`
+    :example:`dynamics/ur5_joints.py`

docs/dynamics/limits.rst

@@ -5,7 +5,7 @@ Torque limits
 -------------
 
 Torque limits are **disabled by default**. They enforce the robot torque limits
-presents in the URDF or :ref:`overriden by the user <joint_limits>`.
+present in the URDF or :ref:`overriden by the user <joint_limits>`.
 
 You can enable/disable those limits with:
 
@@ -34,7 +34,7 @@ Velocity limits
 ---------------
 
 You can enable the velocity limits (**disabled by default**). They enfore the robot velocity limits
-presents in the URDF or :ref:`overriden by the user <joint_limits>`.
+present in the URDF or :ref:`overriden by the user <joint_limits>`.
 
 .. code-block:: python
 
@@ -114,7 +114,7 @@ Joint limits
 ------------
 
 You can enable joint limits, that are **disabled by default**. They enfore the robot joint limits
-presents in the URDF or :ref:`overriden by the user <joint_limits>`.
+present in the URDF or :ref:`overriden by the user <joint_limits>`.
 
 .. code-block:: python
 
@@ -137,7 +137,7 @@ and can be set by the user with:
 
     Denoting the safe acceleration :math:`\ddot q_{safe}`, the solver will enforce the following.
 
-    If the joint is not currently excedding its limit :math:`q_{max}` (or :math:`q_{min}`), the acceleration is
+    If the joint is not currently exceeding its limit :math:`q_{max}` (or :math:`q_{min}`), the acceleration is
     constrained by:
 
     .. math::
@@ -147,12 +147,12 @@ and can be set by the user with:
     This ensures that the velocity towards the joint limit can't exceed a value such that the safe acceleration
     won't be able to take the joint to a stop before hitting it.
 
-    If the joint is currently excedding its limit :math:`q_{max}` (or :math:`q_{min}`), the solver will enforce
+    If the joint is currently exceeding its limit :math:`q_{max}` (or :math:`q_{min}`), the solver will enforce
     at least the safe acceleration outwards the constraint. For example, if :math:`q > q_{max}`, the following
     inequality will be added:
 
     .. math::
 
         \ddot q \le -\ddot q_{safe}
 
-    This situation can happen during initialization, or because of numerical inaccuracies.
+    This situation can happen during initialization, or because of numerical inaccuracies.

docs/dynamics/loop_closures.rst

@@ -16,7 +16,7 @@ Here is the checklist to handle loop closures within a dynamics solver:
 1. Add tasks to ensure loop closures, just like you would `do for kinematics <../kinematics/loop_closures>`_.
    Those tasks are typically :doc:`relative position tasks <position_orientation_frame_task>`
 2. Create a :doc:`task contact <task_contact>` associated with the loop closure task.
-   This will adds internal forces to the system to enforce the loop closure.
+   This will add internal forces to the system to enforce the loop closure.
 3. Make sure all passive degrees of freedom have zero-torque constraint, thanks to the
    `torque task <torque_task>`_.
 
@@ -61,7 +61,7 @@ The following line:
 Creates a :doc:`task contact <task_contact>` associated with the loop closure task. Thanks to this, forces can be added by the solver to
 enforce the task.
 
-Finally, the following line:
+Finally, the following lines:
 
 .. code-block:: python
 
@@ -94,7 +94,7 @@ With a similar pattern, many loop closures are used un Megabot:
 In this other example, gear tasks are used with task contact to simulate a differential gear system:
 
 .. admonition:: Differential
-    
+
     .. video:: https://github.com/Rhoban/placo-examples/raw/master/dynamics/videos/differential.mp4
         :autoplay:
         :muted:
@@ -104,4 +104,4 @@ In this other example, gear tasks are used with task contact to simulate a diffe
     At the end of the video, the torque is forced to zero to show the system's behaviour when only subject
     to gravity.
 
-    :example:`dynamics/differential.py`
+    :example:`dynamics/differential.py`

docs/dynamics/point_contacts.rst

@@ -24,7 +24,7 @@ This type of contact can be used for points that are attached to the world.
         :loop:
 
     In this example, a quadruped robot is attached with four points (which are not unilateral).
-    All motors expect one are unactuated (torque is set to zero).
+    All motors except one are unactuated (torque is set to zero).
     This results in a "hanging" robot.
 
     :example:`dynamics/quadruped_hanging.py`

docs/dynamics/position_orientation_frame_task.rst

@@ -2,7 +2,7 @@ Position, orientation and frame tasks
 =====================================
 
 :func:`PositionTask <placo.DynamicsPositionTask>` and :func:`OrientationTask <placo.DynamicsOrientationTask>`
-can be respectively use to control the position and orientation of a particular frame on the robot.
+can be respectively used to control the position and orientation of a particular frame on the robot.
 The :func:`FrameTask <placo.DynamicsFrameTask>` is a combination of both, wrapping the two tasks in a single one.
 
 
@@ -69,7 +69,7 @@ those methods on the position and orientation tasks directly.
 Relative position and orientation tasks
 ---------------------------------------
 
-The above mentionned tasks also exists in a *relative* version, where two frames have to be specified.
+The above mentionned tasks also exist in a *relative* version, where two frames have to be specified.
 
 .. code-block:: python
 
@@ -108,7 +108,7 @@ In some case, you only want to assign a task for one or two axises. To that end,
     effector_position.mask.set_axises("z")
 
 By default, this masking will occur in the "task" frame (the world frame for absolute tasks, and the first frame for
-relative tasks). Youc can set the second argument of :func:`set_axises() <placo.AxisesMask.set_axises>` to
+relative tasks). You can set the second argument of :func:`set_axises() <placo.AxisesMask.set_axises>` to
 ``"local"`` to enforce the masking to happen in the local frame.
 
 Alternatively, you can also specify ``"custom"`` as the second argument, and provide a custom rotation matrix to
@@ -122,7 +122,7 @@ Here is a complete example using a UR5 robot tracking a target frame.
 Its target velocity is also set for better tracking.
 
 .. admonition:: UR5 with fixed contact
-    
+
     .. video:: https://github.com/Rhoban/placo-examples/raw/master/dynamics/videos/ur5_fixed_contact.mp4
         :autoplay:
         :muted:
@@ -131,4 +131,4 @@ Its target velocity is also set for better tracking.
     In this example, a fixed contact is used on the base of the UR5 robot.
     The :func:`contacts_viz <placo_utils.visualization.contacts_viz>` helper is used to visualize the contacts.
 
-    :example:`dynamics/ur5_fixed_contact.py`
+    :example:`dynamics/ur5_fixed_contact.py`

docs/dynamics/puppet_contact.rst

@@ -3,7 +3,7 @@ Puppet contact
 
 *To be used with:* no task required
 
-The puppet contact is an "universal contact", allowing the solver to add arbitrary forces anywhere
+The puppet contact is a "universal contact", allowing the solver to add arbitrary forces anywhere
 on the robot. By essence, it makes all the tasks feasible force-wise.
 
 This contact is helpful for debugging purpose, and can be used in the initialization phase to
@@ -17,7 +17,7 @@ set the robot in a specific state.
 For example, you can consider such a loop at the begining to initialize the robot:
 
 .. code-block:: python
-        
+
     # Initializing the robot using a puppet contact
     puppet_contact = solver.add_puppet_contact()
     for k in range(1000):

docs/dynamics/weighting_deactivating_contacts.rst

@@ -4,7 +4,7 @@ Weighting, activation/deactivating contacts
 Weighting contact
 -----------------
 
-By default, forces and moments generated by the solver has no cost (they are however internally weighted by
+By default, forces and moments generated by the solver have no cost (they are however internally weighted by
 the problem solver to make the problem feasible).
 
 If you want to mitigate the forces produced by a specific contact, you can use the :func:`weight_forces <placo.Contact.weight_forces>` attribute.
@@ -83,4 +83,4 @@ You can also remove a contact by using :func:`remove_contact <placo.DynamicsSolv
 .. code-block:: python
 
     # Remove the right foot contact
-    solver.remove_contact(right_contact)
+    solver.remove_contact(right_contact)