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Merge pull request #1102 from johannespitz:main

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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>`__. `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 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 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. config for an example.
.. _MjxPerformance: .. _MjxPerformance: