Recommend CoACD for convex mesh decomposition in the docs.

PiperOrigin-RevId: 596917392 Change-Id: I3fa6d22b879bf6b4d16e037bb2b8896df8d682a2
2024-01-09 06:44:29 -08:00
parent baaaa10612
commit b643c08c0d
1 changed files with 6 additions and 6 deletions
@@ -1535,12 +1535,12 @@ convex hull implicitly, however pre-computing that hull can substantially improv
 model compiler does that by default, using the `qhull <http://www.qhull.org/>`__ library.
 In order to model a non-convex object other than a height field, the user must decompose it into a union of convex geoms
-(which can be primitive shapes or meshes) and attach them to the same body. Tools such as the
+(which can be primitive shapes or meshes) and attach them to the same body. Open tools like the `CoACD library
-`HACD <https://github.com/kmammou/v-hacd>`__ library can be used outside MuJoCo to automate this process. Finally, all
+<https://github.com/SarahWeiii/CoACD>`__ can be used outside MuJoCo to automate this process. Finally, all built-in
-built-in collision functions can be replaced with custom callbacks. This can be used to incorporate a general-purpose
+collision functions can be replaced with custom callbacks. This can be used to incorporate a general-purpose "triangle
-"triangle soup" collision detector for example. However we do not recommend such an approach. Pre-processing the
+soup" collision detector for example. However we do not recommend such an approach. Pre-processing the geometry and
-geometry and representing it as a union of convex geoms takes some work, but it pays off at runtime and yields both
+representing it as a union of convex geoms takes some work, but it pays off at runtime and yields both faster and more
-faster and more stable simulation.
+stable simulation.
 .. _Pipeline: