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Update box geom docs.

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PiperOrigin-RevId: 814646973
Change-Id: I6ef294c2b740ca2ebbf2501974120d13d08bf56e
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Kyle Bayes
2025-10-03 04:59:26 -07:00
committed by Copybara-Service
parent 33a30480f8
commit 50920450d2
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doc/XMLreference.rst
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@@ -2464,11 +2464,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
fromto attribute below.
The **box** type defines a box. Three size parameters are required, corresponding to the half-sizes of the box along
the X, Y and Z axes of the geom's frame. Note that box-box collisions are the only pair-wise collision type that can
generate a large number of contact points, up to 8 depending on the configuration. The contact generation itself is
fast but this can slow down the constraint solver. As an alternative, we provide the boxconvex attribute in
:ref:`flag <option-flag>` which causes the general-purpose convex collider to be used instead, yielding at most one
contact point per geom pair.
the X, Y and Z axes of the geom's frame. Note that box-box collisions can generate up to 8 contact points.
The **mesh** type defines a mesh. The geom must reference the desired mesh asset with the mesh attribute. Note that
mesh assets can also be referenced from other geom types, causing primitive shapes to be fitted; see below. The size