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Hi, I personally noticed a significant improvement by using cylindrical primitives to approximate the robot links. Be careful, in this case you will have to manually place the reference systems and decide the dimensions so that these collision meshes overlap perfectly or with a small margin with the visual meshes of your robot.
Primitives are one way, otherwise if you want to test it faster I would recommend using the convex hull method to approximate your meshes with simpler geometry and fewer faces.
See here: link text
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