diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 58dbc9bd..9005f2f5 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -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 ` 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