Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
37 lines
1.2 KiB
XML
37 lines
1.2 KiB
XML
<mujoco model="collisions">
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<worldbody>
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<body name="box">
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<geom name="box" type="box" size="1 1 1"/>
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</body>
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<body pos="1.2 1.2 0.0">
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<!-- collides with box -->
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<joint/>
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<geom name="sphere_collides" type="sphere" size="1"/>
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</body>
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<body pos="-0.9 -0.9 0.0">
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<!-- collides with box, and is a predefined pair -->
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<joint/>
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<geom name="sphere_predefined" type="sphere" size="0.1"/>
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</body>
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<body pos="1.8 -1.8 0.0" >
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<!-- doesn't collide with box, but requires narrowphase checking -->
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<joint/>
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<geom name="sphere_narrowphase" type="sphere" size="1"/>
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</body>
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<body pos="-2.1 -2.1 0.0">
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<!-- doesn't collide with box, and can be eliminated in broadphase -->
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<joint/>
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<geom name="sphere_broadphase" type="sphere" size="1"/>
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</body>
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<body name="sphere_excluded">
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<!-- collides with box, but is excluded -->
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<joint/>
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<geom name="sphere_excluded" type="sphere" pos="0.0 0.0 0.0" size="0.2"/>
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</body>
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</worldbody>
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<contact>
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<exclude body1="box" body2="sphere_excluded"/>
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<pair geom1="box" geom2="sphere_predefined"/>
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</contact>
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</mujoco>
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