From c0282237f18542ab654744928f53c58aa3d0f3ac Mon Sep 17 00:00:00 2001 From: Dan Butler Date: Thu, 2 Jun 2022 19:35:06 -0700 Subject: [PATCH] Update documentation for 'boundmass' attribute of 'compiler' xml element to include usage --- doc/XMLreference.rst | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index f48d5a90..4241a959 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -1458,9 +1458,10 @@ This element is used to set options for the built-in parser and compiler. After any effect. The settings here are global and apply to the entire model. :at:`boundmass`: :at-val:`real, "0"` - This attribute imposes a lower bound on the mass of each body except for the world body. It can be used as a quick - fix for poorly designed models that contain massless moving bodies, such as the dummy bodies often used in URDF - models to attach sensors. Note that in MuJoCo there is no need to create dummy bodies. + This attribute imposes a lower bound on the mass of each body except for the world body. Setting this attribute to + a value greater than 0 can be used as a quick fix for poorly designed models that contain massless moving bodies, + such as the dummy bodies often used in URDF models to attach sensors. Note that in MuJoCo there is no need to create + dummy bodies. :at:`boundinertia`: :at-val:`real, "0"` This attribute imposes a lower bound on the diagonal inertia components of each body except for the world body. Its use is similar to boundmass above.