9553892770
Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects. Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>. See examples/pybullet/examples/collisionFilter.py for an example. PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation. Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
30 lines
701 B
XML
30 lines
701 B
XML
<?xml version="1.0" ?>
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<robot name="cube">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="1.0"/>
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision group="0" mask="0">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</collision>
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</link>
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</robot>
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