Yuval Tassa
f2a967348c
That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed. PiperOrigin-RevId: 591036252 Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
12 lines
248 B
XML
12 lines
248 B
XML
<mujoco>
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<!-- Box deeply penetrating another box -->
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<worldbody>
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<geom type="box" size="1 1 1" rgba=".5 .5 .5 .5"/>
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<body pos=".1 .2 .3">
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<freejoint/>
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<geom type="box" size=".2 .2 .2"/>
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</body>
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</worldbody>
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</mujoco>
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