Yuval Tassa
7942fe957e
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
37 lines
1.3 KiB
XML
37 lines
1.3 KiB
XML
<mujoco>
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<!-- This model leads to bad contacts from mjc_BoxBox -->
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<default>
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<geom rgba="1 1 1 1" margin="1e-3" gap="1e-3"/>
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<site type="sphere" rgba="0 0 0 0" size="0.001"/>
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</default>
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<worldbody>
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<light diffuse="1 1 1" pos="-5 -17.5 15" dir="0.24 0.84 -0.48"/>
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<camera name="fixed" pos="0 -25 8" euler="90 0 0"/>
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<geom name="ground" pos="0 0 0" quat="1 0 0 0" rgba="0.770 0.670 0.490 1" size="50 50 1" type="plane"/>
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<body name="block01" pos="-0.9 0 1.5" quat="1 0 0 0">
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<freejoint/>
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<geom mass="1" name="geom01" rgba="0.5 0 0 1" size="0.5 0.5 1.5" type="box"/>
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</body>
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<body name="block02" pos="-0.7 0 3.5" quat="1 0 0 0">
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<freejoint/>
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<geom mass="1" name="geom02" rgba="0.5 0 0.350 1" size="1.5 0.5 0.5" type="box"/>
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</body>
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<body name="block03" pos="0.3 0 5.5" quat="1 0 0 0">
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<freejoint/>
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<geom mass="1" name="geom03" rgba="0 0.5 0.450 1" size="0.5 0.5 1.5" type="box"/>
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</body>
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<body name="block04" pos="0.200 1e-9 7.5" quat="1 0 0 0">
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<freejoint/>
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<geom mass="1" name="geom04" rgba="0 0.5 0.099 1" size="1.5 0.5 0.5" type="box"/>
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</body>
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</worldbody>
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<contact>
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<exclude body1="world" body2="block01"/>
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<exclude body1="block03" body2="block02"/>
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</contact>
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</mujoco>
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