From 50920450d238519f1fceb9601e594377d1c76880 Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Fri, 3 Oct 2025 04:59:26 -0700 Subject: [PATCH] Update box geom docs. PiperOrigin-RevId: 814646973 Change-Id: I6ef294c2b740ca2ebbf2501974120d13d08bf56e --- doc/XMLreference.rst | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) 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