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Update documentation for 'boundmass' attribute of 'compiler' xml element to include usage

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Dan Butler
2022-06-02 19:35:06 -07:00
parent d7ae7f5433
commit c0282237f1
1 changed files with 4 additions and 3 deletions
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doc/XMLreference.rst
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@@ -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. any effect. The settings here are global and apply to the entire model.
:at:`boundmass`: :at-val:`real, "0"` :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 This attribute imposes a lower bound on the mass of each body except for the world body. Setting this attribute to
fix for poorly designed models that contain massless moving bodies, such as the dummy bodies often used in URDF a value greater than 0 can be used as a quick fix for poorly designed models that contain massless moving bodies,
models to attach sensors. Note that in MuJoCo there is no need to create dummy 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"` :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 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. use is similar to boundmass above.