Hello everyone, I am a beginner working on the improvement of the computation speed of the simulation. I have seen that there are simulations with options/colission set to "all" and with defined contact pairs. I had a problem to understand from http://www.mujoco.org/book/computation.html#Collision what would be then the function of such contact pairs when we consider all collisions. Could someone shed some light on it?
The pair attribute allows you to define contact-pair specific properties such as the dimensionality, friction parameters ect.