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Check all edge pairs in convex-convex.

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PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
This commit is contained in:
Baruch Tabanpour
2024-03-28 11:32:44 -07:00
committed by Copybara-Service
parent a8db22f0d0
commit d258d5e152
9 changed files with 149 additions and 148 deletions
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mjx/mujoco/mjx/test_data/shadow_hand/right_hand.xml
+5 -5
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@@ -156,7 +156,7 @@
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="rh_FFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
</body>
</body>
</body>
@@ -181,7 +181,7 @@
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="rh_MFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
</body>
</body>
</body>
@@ -206,7 +206,7 @@
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="rh_RFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
</body>
</body>
</body>
@@ -236,7 +236,7 @@
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="rh_LFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
</body>
</body>
</body>
@@ -266,7 +266,7 @@
diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
<joint name="rh_THJ1" class="thdistal"/>
<geom class="plastic_visual" mesh="th_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="th_distal_pst_190"/>
<geom class="plastic_collision" type="mesh" mesh="th_distal_pst_190" contype="0" conaffinity="2"/>
</body>
</body>
</body>