File size: 2,138 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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 | <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>
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