File size: 1,852 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 | <mujoco model="Primitive collisions">
<asset>
<mesh name="halfbox" 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 "/>
</asset>
<default>
<geom rgba=".2 .2 .6 1"/>
</default>
<worldbody>
<light pos=".5 0 3"/>
<light pos="-.5 0 3"/>
<geom name="plane" type="plane" size="2 2 .01" 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="capsule1" type="capsule" size=".1 .1"/>
</body>
<body pos="-.2 0 .4" euler="90 0 0">
<freejoint/>
<geom name="capsule2" type="capsule" size=".05 .1"/>
</body>
<body pos=".4 0 .3">
<freejoint/>
<geom name="cylinder" type="cylinder" size=".1 .15"/>
</body>
<body pos="-.5 0 .3">
<freejoint/>
<geom name="box1" type="box" size=".2 .15 .1"/>
</body>
<body pos="-.5 0 .6">
<freejoint/>
<geom name="box2" type="box" size=".1 .05 .1"/>
</body>
<body pos="-.5 -.6 .3">
<freejoint/>
<geom name="mesh" type="mesh" mesh="halfbox"/>
</body>
</worldbody>
<sensor>
<fromto geom1="plane" geom2="sphere" cutoff="1"/>
<fromto geom1="plane" geom2="capsule1" cutoff="1"/>
<fromto geom1="plane" geom2="box1" cutoff="1"/>
<fromto geom1="plane" geom2="cylinder" cutoff="1"/>
<fromto geom1="plane" geom2="mesh" cutoff="1"/>
<fromto geom1="capsule2" geom2="capsule1" cutoff="1"/>
<fromto geom1="capsule1" geom2="sphere" cutoff="1"/>
<fromto geom1="sphere" geom2="cylinder" cutoff="1"/>
<fromto geom1="box1" geom2="sphere" cutoff="1"/>
<fromto geom1="box2" geom2="capsule2" cutoff="1"/>
<fromto geom1="box1" geom2="box2" cutoff="1"/>
</sensor>
</mujoco>
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