Yuval Tassa
02d015458c
PiperOrigin-RevId: 632458301 Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
72 lines
1.8 KiB
XML
72 lines
1.8 KiB
XML
<mujoco model="Primitive collisions">
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<asset>
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<mesh name="halfbox" scale=".2 .3 .1"
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vertex="0 0 0 1 0 0 0 1 0 1 1 0
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0 0 1 1 0 1 0 1 1 "/>
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</asset>
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<default>
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<geom rgba=".2 .2 .6 1"/>
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</default>
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<worldbody>
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<light pos=".5 0 3"/>
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<light pos="-.5 0 3"/>
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<geom name="plane" type="plane" size="2 2 .01" rgba="0.5 0.5 0.5 1"/>
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<body pos=".2 0 .6">
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<freejoint/>
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<geom name="sphere" type="sphere" size=".15"/>
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</body>
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<body pos="0 0 .3">
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<freejoint/>
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<geom name="capsule1" type="capsule" size=".1 .1"/>
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</body>
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<body pos="-.2 0 .4" euler="90 0 0">
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<freejoint/>
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<geom name="capsule2" type="capsule" size=".05 .1"/>
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</body>
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<body pos=".4 0 .3">
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<freejoint/>
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<geom name="cylinder" type="cylinder" size=".1 .15"/>
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</body>
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<body pos="-.5 0 .3">
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<freejoint/>
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<geom name="box1" type="box" size=".2 .15 .1"/>
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</body>
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<body pos="-.5 0 .6">
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<freejoint/>
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<geom name="box2" type="box" size=".1 .05 .1"/>
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</body>
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<body pos="-.5 -.6 .3">
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<freejoint/>
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<geom name="mesh" type="mesh" mesh="halfbox"/>
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</body>
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</worldbody>
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<sensor>
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<fromto geom1="plane" geom2="sphere" cutoff="1"/>
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<fromto geom1="plane" geom2="capsule1" cutoff="1"/>
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<fromto geom1="plane" geom2="box1" cutoff="1"/>
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<fromto geom1="plane" geom2="cylinder" cutoff="1"/>
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<fromto geom1="plane" geom2="mesh" cutoff="1"/>
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<fromto geom1="capsule2" geom2="capsule1" cutoff="1"/>
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<fromto geom1="capsule1" geom2="sphere" cutoff="1"/>
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<fromto geom1="sphere" geom2="cylinder" cutoff="1"/>
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<fromto geom1="box1" geom2="sphere" cutoff="1"/>
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<fromto geom1="box2" geom2="capsule2" cutoff="1"/>
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<fromto geom1="box1" geom2="box2" cutoff="1"/>
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</sensor>
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</mujoco>
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