From 66bab66ceb1b9b3652ffafd178bd3ae3baad3630 Mon Sep 17 00:00:00 2001 From: Ryan Yang Date: Tue, 22 Oct 2024 19:40:16 -0400 Subject: [PATCH] reviewed changes --- book/force.html | 2 +- book/force/exercises/hybrid_force_position.ipynb | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/book/force.html b/book/force.html index 57a7f2ff..27e69b72 100644 --- a/book/force.html +++ b/book/force.html @@ -1103,7 +1103,7 @@

Manipulator Control

  • If we push too hard (i.e. $f^{C}_{finger,z}$ is too big), then the pivot point will slide to the left. First, balance forces along the horizontal axis to derive an upper bound for $f^{C}_{finger, z}$. - Then, balance forces along the y-axis an equation with $f^{C}_{finger,z}$. + Then, balance forces along the y-axis to obtain an equation with $f^{C}_{finger,z}$. Finally, combine the relations found from balancing forces in the horizontal and vertical directions with the torque lower bound from part (a) to finish deriving the upper bound for the required normal force $f^{C}_{finger,z}$ diff --git a/book/force/exercises/hybrid_force_position.ipynb b/book/force/exercises/hybrid_force_position.ipynb index 2cf06f8c..2ceeaa32 100644 --- a/book/force/exercises/hybrid_force_position.ipynb +++ b/book/force/exercises/hybrid_force_position.ipynb @@ -389,9 +389,9 @@ }, "outputs": [], "source": [ - "# NOTE: you may tune the velocity and duration to achieve the above specification.\n", + "# NOTE: We recommend the following values, though you may try different velocities and durations as well!\n", "velocity = -0.125 # p_des = 0.65 + velocity * max\\{time - 2.0, 0\\}\n", - "duration = 0.1 # duration to simulate. We check the book pose at the end of duration. set to 5~10.\n", + "duration = 6.5 # duration to simulate. We check the book pose at the end of duration. set to 5~10.\n", "log, plant, plant_context = BuildAndSimulate(compute_ctrl, velocity, duration)" ] },