Clarification for I_max

Author: Gregwar

docs/dynamics/limits.rst

@@ -91,11 +91,13 @@ As a result, the following restriction will be enforced:
     * :math:`k_t`: torque constant [Nm/A]
     * :math:`R`: motor resistance [Ohm]
     * :math:`V_{in}`: input voltage [V]
+    * Optionally :math:`I_{max}`, the maximum current [A]
 
     You can set the following limits:
 
     * :math:`\tau_{stall} = k_t V_{in} / R`: stall torque, ``effort`` in the URDF, or using :func:`set_torque_limit() <placo.RobotWrapper.set_torque_limit>`.
     * :math:`\omega_0 = V_{in} / k_t`: no-load speed, ``velocity`` in the URDF, or using :func:`set_velocity_limit() <placo.RobotWrapper.set_velocity_limit>`.
+    * Optionally, pass :math:`\tau_{max} = kt \times I_{max}` to the solver's :func:`set_torque_limit() <placo.DynamicsSolver.set_torque_limit>` to set the maximum torque allowable (e.g because of heat).
 
     To recover the DC motor limits, that are: