Kyle Bayes
024616345d
PiperOrigin-RevId: 730489114 Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
33 lines
730 B
XML
33 lines
730 B
XML
<mujoco model="Capsule-Ellipsoid Distance">
|
|
<visual>
|
|
<headlight ambient=".7 .7 .7"/>
|
|
<rgba rangefinder="1 .2 .1 1"/>
|
|
</visual>
|
|
<option>
|
|
<flag gravity="disable"/>
|
|
</option>
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" width="512" height="512" rgb1="1 1 1" rgb2="1 1 1"/>
|
|
</asset>
|
|
|
|
<default>
|
|
<geom rgba=".1 .1 .1 1"/>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<body pos="-.5 0 0">
|
|
<freejoint/>
|
|
<geom name="capsule" type="capsule" size=".15 .30"/>
|
|
</body>
|
|
|
|
<body pos=".5 0 0">
|
|
<freejoint/>
|
|
<geom name="ellipsoid" type="ellipsoid" size=".10 .10 .15"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<sensor>
|
|
<fromto geom1="capsule" geom2="ellipsoid" cutoff="15"/>
|
|
</sensor>
|
|
</mujoco>
|