From 42aed4b522812a438cda5d3b560766c24c6e2a29 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Fri, 13 Sep 2024 12:07:44 +0200 Subject: [PATCH] Add reference sources and update comments --- src/jaxsim/rbda/contacts/relaxed_rigid.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/jaxsim/rbda/contacts/relaxed_rigid.py b/src/jaxsim/rbda/contacts/relaxed_rigid.py index 728118da5..f8647283c 100644 --- a/src/jaxsim/rbda/contacts/relaxed_rigid.py +++ b/src/jaxsim/rbda/contacts/relaxed_rigid.py @@ -76,7 +76,7 @@ class RelaxedRigidContactsParams(ContactsParams): default_factory=lambda: jnp.array(50, dtype=int) ) - # Solver Tolerance + # Solver tolerance tolerance: jtp.Float = dataclasses.field( default_factory=lambda: jnp.array(1e-6, dtype=float) ) @@ -172,7 +172,7 @@ def valid(self, model: js.model.JaxSimModel) -> bool: @jax_dataclasses.pytree_dataclass class RelaxedRigidContacts(ContactModel): - """Rigid contacts model.""" + """Relaxed rigid contacts model.""" parameters: RelaxedRigidContactsParams = dataclasses.field( default_factory=RelaxedRigidContactsParams