text: from pyrosim.commonFunctions import Save_Whitespace
  
  class COLLISION_SDF: 
  
      def __init__(self,geometry):
  
          self.geometry = geometry
   
          self.depth = 3
  
      def Save(self,f):
  
          self.Save_Start_Tag(f)
  
          self.geometry.Save(f)
  
          self.Save_End_Tag(f)
  
  # ------------------ Private methods ------------------
  
      def Save_End_Tag(self,f):
  
          Save_Whitespace(self.depth,f)
  
          f.write('</collision>\n')
  
      def Save_Start_Tag(self,f):
  
          Save_Whitespace(self.depth,f)
  
          f.write('<collision>\n')
  