Yuval Tassa
e6c5715903
PiperOrigin-RevId: 780993257 Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
35 lines
1.4 KiB
XML
35 lines
1.4 KiB
XML
<mujoco model="insidesite sensor">
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<default>
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<site rgba=".4 .7 .6 .3"/>
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</default>
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<worldbody>
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<light pos="0 0 3"/>
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<geom name="plane" type="plane" pos="0 0 .5" size="2 2 .01" rgba="0.5 0.5 0.5 1"/>
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<body pos="0 0 1">
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<joint type="slide" axis="1 0 0" range="-.7 .7" solreflimit="-200 0"/>
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<geom name="query" type="sphere" size=".02" rgba="1 0 0 1"/>
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</body>
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<site name="sphere" type="sphere" size=".11" pos="-.5 0 1"/>
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<site name="capsule" type="capsule" size=".08 .15" euler="20 -40 60" pos="-.25 0 1"/>
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<site name="ellipsoid" type="ellipsoid" size=".11 .15 .09" euler="20 40 -60" pos="0 0 1"/>
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<site name="cylinder" type="cylinder" size=".09 .12" euler="-20 40 60" pos=".25 0 1"/>
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<site name="box" type="box" size=".08 .1 .14" euler="20 -40 60" pos=".5 0 1"/>
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</worldbody>
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<sensor>
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<insidesite name="sphere" site="sphere" objtype="geom" objname="query"/>
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<insidesite name="capsule" site="capsule" objtype="geom" objname="query"/>
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<insidesite name="ellipsoid" site="ellipsoid" objtype="geom" objname="query"/>
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<insidesite name="cylinder" site="cylinder" objtype="geom" objname="query"/>
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<insidesite name="box" site="box" objtype="geom" objname="query"/>
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</sensor>
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<keyframe>
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<key qvel="1"/>
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</keyframe>
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</mujoco>
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