From 028cf872e1588a016ffb6663c4d5b018443b6686 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Fri, 26 Jul 2024 11:56:43 +0200 Subject: [PATCH] docs: Minor addition re. the damping task --- pink/tasks/damping_task.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/pink/tasks/damping_task.py b/pink/tasks/damping_task.py index 89551c35..06ed15ac 100644 --- a/pink/tasks/damping_task.py +++ b/pink/tasks/damping_task.py @@ -15,9 +15,10 @@ class DampingTask(PostureTask): r"""Minimize joint velocities. - The damping task minimizes :math:`\| v \|`. The word "damping" is used here - by analogy with forces that fight against motion, and bring the robot to a - rest if nothing else drives it. + The damping task minimizes :math:`\| v \|` with :math:`v` the velocity + output of the differential IK. The word "damping" is used here by analogy + with forces that fight against motion, and bring the robot to a rest if + nothing else drives it. Note: The damping task is implemented as a special case of the posture task