From daa5a9e549093c271186a7b1be176430453297ff Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Mon, 15 Jan 2024 18:13:18 +0100
Subject: [PATCH] Add usage notes

---
 examples/Parallel_computing.ipynb | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/examples/Parallel_computing.ipynb b/examples/Parallel_computing.ipynb
index f591a9df9..caf86417d 100644
--- a/examples/Parallel_computing.ipynb
+++ b/examples/Parallel_computing.ipynb
@@ -8,8 +8,13 @@
     "\n",
     "<a target=\"_blank\" href=\"https://colab.research.google.com/github/flferretti/jaxsim/blob/example/parallel/examples/Parallel_computing.ipynb\">\n",
     "  <img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/>\n",
-    "</a>\n",
-    "\n",
+    "</a>"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
     "First, we install the necessary packages and import them."
    ]
   },
@@ -55,7 +60,9 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "We will use a simple sphere model to simulate a free-falling body. The spheres set will be composed of 9 spheres, each with a different position. The spheres will be simulated in parallel, and the simulation will be run for 3000 steps corresponding to 3 seconds of simulation."
+    "We will use a simple sphere model to simulate a free-falling body. The spheres set will be composed of 9 spheres, each with a different position. The spheres will be simulated in parallel, and the simulation will be run for 3000 steps corresponding to 3 seconds of simulation.\n",
+    "\n",
+    "**Note**: Parallel simulations are independent of each other, the different position is imposed only to show the parallelization visually."
    ]
   },
   {
@@ -157,7 +164,9 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "In order to parallelize the simulation, we first need to define a function `simulate` for a single element of the batch."
+    "In order to parallelize the simulation, we first need to define a function `simulate` for a single element of the batch.\n",
+    "\n",
+    "**Note:** [`step_over_horizon`](https://github.com/ami-iit/jaxsim/blob/427b1e646297495f6b33e4c0bb2273ca89bd5ae2/src/jaxsim/simulation/simulator.py#L432C1-L529C10) is useful only in open-loop simulations and where the horizon is known in advance. Please checkout [`step`](https://github.com/ami-iit/jaxsim/blob/427b1e646297495f6b33e4c0bb2273ca89bd5ae2/src/jaxsim/simulation/simulator.py#L384C10-L425) for closed-loop simulations."
    ]
   },
   {