File size: 730 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | <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>
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