From c1ac663aaaaed5002b4e606ff68828561d75bb93 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Mon, 9 Dec 2024 14:30:27 +0100 Subject: [PATCH] Clarify definition of "bottom half" in collision detection configuration Co-authored-by: Silvio Traversaro --- docs/guide/configuration.rst | 3 +++ 1 file changed, 3 insertions(+) diff --git a/docs/guide/configuration.rst b/docs/guide/configuration.rst index 3aad6423c..9eb482ebd 100644 --- a/docs/guide/configuration.rst +++ b/docs/guide/configuration.rst @@ -18,6 +18,9 @@ Environment variables starting with ``JAXSIM_COLLISION_`` are used to configure - ``JAXSIM_COLLISION_USE_BOTTOM_ONLY``: Limits collision detection to only the bottom half of the box or sphere. *Default:* ``False``. + > [!NOTE] + > The bottom half is defined as the half of the box or sphere with the lowest z-coordinate in the collision link frame. + Testing ~~~~~~~