Yuval Tassa
02d015458c
PiperOrigin-RevId: 632458301 Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
84 lines
2.5 KiB
XML
84 lines
2.5 KiB
XML
<mujoco model="Convex-Convex collisions">
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<option>
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<flag gravity="disable"/>
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</option>
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<asset>
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<mesh name="halfbox1" 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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<mesh name="halfbox2" scale=".2 .3 .1"
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vertex="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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<hfield name="hfield" nrow="3" ncol="4" size="1 1 .1 .08"
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elevation="1 0 1 2
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0 2 1 1
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1 0 1 0"/>
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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="hfield" type="hfield" hfield="hfield" 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="ellipsoid" type="ellipsoid" size=".1 .1 .2"/>
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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="box" 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="mesh1" type="mesh" mesh="halfbox1"/>
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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="mesh2" type="mesh" mesh="halfbox2"/>
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</body>
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</worldbody>
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<sensor>
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<fromto geom1="ellipsoid" geom2="box" cutoff="1"/>
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<fromto geom1="ellipsoid" geom2="cylinder" cutoff="1"/>
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<fromto geom1="ellipsoid" geom2="mesh2" cutoff="1"/>
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<fromto geom1="ellipsoid" geom2="hfield" cutoff="1"/>
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<fromto geom1="mesh1" geom2="sphere" cutoff="1"/>
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<fromto geom1="mesh1" geom2="box" cutoff="1"/>
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<fromto geom1="mesh1" geom2="mesh2" cutoff="1"/>
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<fromto geom1="hfield" geom2="sphere" cutoff="1"/>
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<fromto geom1="hfield" geom2="box" cutoff="1"/>
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<fromto geom1="hfield" geom2="mesh1" cutoff="1"/>
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<fromto geom1="ellipsoid" geom2="box" cutoff="0.2"/>
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<fromto geom1="ellipsoid" geom2="cylinder" cutoff="0.2"/>
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<fromto geom1="ellipsoid" geom2="mesh2" cutoff="0.2"/>
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<fromto geom1="ellipsoid" geom2="hfield" cutoff="0.2"/>
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<fromto geom1="mesh1" geom2="sphere" cutoff="0.2"/>
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<fromto geom1="mesh1" geom2="box" cutoff="0.2"/>
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<fromto geom1="mesh1" geom2="mesh2" cutoff="0.2"/>
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<fromto geom1="hfield" geom2="sphere" cutoff="0.2"/>
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<fromto geom1="hfield" geom2="box" cutoff="0.2"/>
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<fromto geom1="hfield" geom2="mesh1" cutoff="0.2"/>
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</sensor>
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</mujoco>
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