why is it possible to specify both the Motion and the Force (or Torque, depending on the joint primitive) as "Provided by Input". I´ve read the documentation (de.mathworks.com/help/releases/R2017a/physmod/sm/ug/joint-actuation.html) regarding that topic, it´s also stated in there that this is possible (it´called in there "fully computed").
The same problem understanding arises by specifying both with "automatically computed".
Could somebody please explain in which scenario that would be useful and what is internally happening?
Thanks in advance!