[AMR] Notes on tasks, improved layouts

electives/amr/parts/01_kinematics/01_forward.tex

@@ -10,7 +10,8 @@ $ \begin{bmatrix}
 }
 Workspace $W$: $\theta_1, \theta_2 \in [-\pi, \pi]$.
 Similar for $n$R sys (more angles, more lengths).
-For 2D move in 3D space, last dim is sum of angles (or equiv). \bi{Jacobian}: see \ref{sec:ms-lin}
+For 2D move in 3D space, last dim is sum of angles (or equiv).
+The Jacobian of this $nD$ position is typically computed ($nD$ pos is a vec).
+\bi{Jacobian}: see \ref{sec:ms-lin}.
 
-\shortdefinition[Singularity] Loss of deg of Freed. $\det(\mat{J}(\vec{\theta})) = 0$
-% TODO: Determinant computation
+\shortdefinition[Singularity] Loss of deg of Freedom $\det(\mat{J}(\vec{\theta})) = 0$