Circumvent bug in mjc_BoxBox.

The box-box collider sometimes outputs bad contact points which are far outside one of the two boxes. This happens at configurations which are very rare numerically, but rare configurations (e.g. perfect box alignment) are often induced by the designer and the physics, making them actually not-so-rare. Since the box collision functions are very difficult to understand, we circumvent the issue by extending the post processing code to detect and remove such contacts. PiperOrigin-RevId: 589178197 Change-Id: I82b8a888ef04f9196111c960757e3314d0ab6d8e
2023-12-08 10:38:39 -08:00
parent a006b15958
commit 7942fe957e
9 changed files with 381 additions and 24 deletions
@@ -0,0 +1,11 @@
+<mujoco>
+  <!-- This model leads to duplicate contacts from mjc_BoxBox -->
+
+  <worldbody>
+    <geom type="box" size="1 1 1"/>
+    <body pos="0 0 2">
+      <freejoint/>
+      <geom type="box" size="1 1 1"/>
+    </body>
+  </worldbody>
+</mujoco>