Modulate the number of steady-state collisions

ami-iit · Apr 3, 2024 · 9ca6ebc · 9ca6ebc
1 parent 9a0e49f
commit 9ca6ebc
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/examples/Parallel_computing.ipynb b/examples/Parallel_computing.ipynb
@@ -126,7 +126,11 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "It is possible to automatically choose a good set of parameters for the terrain. By default, in JaxSim a sphere primitive has 250 collision points."
+    "It is possible to automatically choose a good set of parameters for the terrain. \n",
+    "\n",
+    "By default, in JaxSim a sphere primitive has 250 collision points. This can be modified by setting the `JAXSIM_COLLISION_SPHERE_POINTS` environment variable.\n",
+    "\n",
+    "Given that at its steady-state the sphere will act on two or three points, we can estimate the ground parameters by explicitly setting the number of active points to these values."
    ]
   },
   {
@@ -137,7 +141,7 @@
    "source": [
     "data = data.replace(\n",
     "    soft_contacts_params=js.contact.estimate_good_soft_contacts_parameters(\n",
-    "        model, number_of_active_collidable_points_steady_state=250\n",
+    "        model, number_of_active_collidable_points_steady_state=3\n",
     "    )\n",
     ")"
    ]