Showering on Shabbat

Question

K'vod HaRav: I have read through your posts on this issue, but am confused on one point: Are you saying that showering is permissible bc heating the water, so long as it is below yad soledet, is a grama, or are you saying it is psik raisha d'lo nicha lei (a psik reisha that one does not like)? Or am I getting those concepts confused? I am not sure how this could be d'lo nicha lei, as the object of the action is to heat the water. I hope this email is not confusing! I would very much appreciate your thoughts.