Add schematic to explain the dynamics
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docs/figs/1dof_actuator_external_forces.pdf
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docs/figs/1dof_actuator_external_forces.pdf
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docs/figs/1dof_actuator_external_forces.png
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docs/figs/1dof_actuator_external_forces.png
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docs/figs/2dof_actuator_external_forces.pdf
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docs/figs/2dof_actuator_external_forces.pdf
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docs/figs/2dof_actuator_external_forces.png
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docs/figs/2dof_actuator_external_forces.png
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