Kyle Bayes
8d84b5f693
PiperOrigin-RevId: 685730321 Change-Id: Ib1d4a90b7b31ca388e018076a274e25c40409080
76 lines
2.1 KiB
XML
76 lines
2.1 KiB
XML
<mujoco model="Convex-Convex collisions">
|
|
<option>
|
|
<flag gravity="disable"/>
|
|
</option>
|
|
|
|
<asset>
|
|
<mesh name="halfbox1" scale=".2 .3 .1"
|
|
vertex="0 0 0 1 0 0 0 1 0 1 1 0
|
|
0 0 1 1 0 1 0 1 1 "/>
|
|
<mesh name="halfbox2" scale=".2 .3 .1"
|
|
vertex="1 0 0 0 1 0 1 1 0
|
|
0 0 1 1 0 1 0 1 1 "/>
|
|
<hfield name="hfield" nrow="3" ncol="4" size="1 1 .1 .08"
|
|
elevation="1 0 1 2
|
|
0 2 1 1
|
|
1 0 1 0"/>
|
|
</asset>
|
|
|
|
<default>
|
|
<geom rgba=".2 .2 .6 1"/>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<light pos=".5 0 3"/>
|
|
<light pos="-.5 0 3"/>
|
|
|
|
<geom name="hfield" type="hfield" hfield="hfield" rgba="0.5 0.5 0.5 1"/>
|
|
|
|
<body pos=".2 0 .6">
|
|
<freejoint/>
|
|
<geom name="sphere" type="sphere" size=".15"/>
|
|
</body>
|
|
|
|
<body pos="0 0 .3">
|
|
<freejoint/>
|
|
<geom name="ellipsoid" type="ellipsoid" size=".1 .1 .2"/>
|
|
</body>
|
|
|
|
<body pos=".4 0 .3">
|
|
<freejoint/>
|
|
<geom name="cylinder" type="cylinder" size=".1 .15"/>
|
|
</body>
|
|
|
|
<body pos="-.5 0 .3">
|
|
<freejoint/>
|
|
<geom name="box" type="box" size=".2 .15 .1"/>
|
|
</body>
|
|
|
|
<body pos="-.5 0 .6">
|
|
<freejoint/>
|
|
<geom name="mesh1" type="mesh" mesh="halfbox1"/>
|
|
</body>
|
|
|
|
<body pos="-.5 -.6 .3">
|
|
<freejoint/>
|
|
<geom name="mesh2" type="mesh" mesh="halfbox2"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<sensor>
|
|
<fromto geom1="ellipsoid" geom2="box" cutoff="1"/>
|
|
<fromto geom1="ellipsoid" geom2="cylinder" cutoff="1"/>
|
|
<fromto geom1="ellipsoid" geom2="mesh2" cutoff="1"/>
|
|
<fromto geom1="mesh1" geom2="sphere" cutoff="1"/>
|
|
<fromto geom1="mesh1" geom2="box" cutoff="1"/>
|
|
<fromto geom1="mesh1" geom2="mesh2" cutoff="1"/>
|
|
|
|
<fromto geom1="ellipsoid" geom2="box" cutoff="0.2"/>
|
|
<fromto geom1="ellipsoid" geom2="cylinder" cutoff="0.2"/>
|
|
<fromto geom1="ellipsoid" geom2="mesh2" cutoff="0.2"/>
|
|
<fromto geom1="mesh1" geom2="sphere" cutoff="0.2"/>
|
|
<fromto geom1="mesh1" geom2="box" cutoff="0.2"/>
|
|
<fromto geom1="mesh1" geom2="mesh2" cutoff="0.2"/>
|
|
</sensor>
|
|
</mujoco>
|