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Merge pull request #1102 from johannespitz:main

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Change-Id: I92c5cbd735ac29680b8532a0f0901bbc5d5072ce
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Copybara-Service
2023-10-18 11:05:56 -07:00
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@@ -285,7 +285,7 @@ Scenes with collisions between meshes with many vertices
`mesh collision algorithms <https://ubm-twvideo01.s3.amazonaws.com/o1/vault/gdc2013/slides/822403Gregorius_Dirk_TheSeparatingAxisTest.pdf>`__.
These algorithms work well for smaller meshes (with hundreds of vertices) but suffer with large meshes. With careful
tuning, MJX can simulate scenes with mesh collisions well -- see the MJX
`shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/benchmark/model/shadow_hand/scene_right.xmld>`__
`shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
config for an example.
.. _MjxPerformance: