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Co-authored-by: Mads Holm Peters <[email protected]>
Co-authored-by: Rune Søe-Knudsen <[email protected]>

Author: 3 people

doc/architecture/reverse_interface.rst

@@ -44,7 +44,7 @@ meaning:
    1-6    Current motion target. depending on the control mode, this can be interpreted as
 
            - joint positions (SERVOJ)
-           - joint velocities (SPEEDL)
+           - joint velocities (SPEEDJ)
            - trajectory instructions (FORWARD)
 
              - field 1: Trajectory control mode(1: TRAJECTORY_MODE_RECEIVE, -1: TRAJECTORY_MODE_CANCEL)

doc/architecture/rtde_client.rst

@@ -3,7 +3,7 @@
 RTDEClient
 ==========
 
-The ``RTDEClient`` class serves as a standalone
+The Real Time Data Exchange Client, ``RTDEClient``, class serves as a standalone
 `RTDE <https://www.universal-robots.com/articles/ur-articles/real-time-data-exchange-rtde-guide/>`_
 client. To use the RTDE-Client, you'll have to initialize and start it separately:
 

doc/installation.rst

@@ -69,7 +69,7 @@ As a minimal example, take the following “project”:
 As a minimal executable, we'll create a client for the dashboard server and ask for the
 PolyscopeVersion.
 
-.. note:: This will not work on Polyscope X versions, as the dashboard server is not available
+.. note:: This will not work on PolyScope X versions, as the dashboard server is not available
    there.
 
 .. code-block:: cpp