| <mujoco model="Body-Body collisions fromto"> | |
| <option> | |
| <flag gravity="disable"/> | |
| </option> | |
| <worldbody> | |
| <light pos=".5 0 3"/> | |
| <light pos="-.5 0 3"/> | |
| <geom type="plane" size="2 2 .01"/> | |
| <body name="1" pos="0 0 .3"> | |
| <freejoint/> | |
| <replicate count="50" offset="0 0 0.01" euler="0 0 25"> | |
| <geom type="capsule" size=".01 .05" pos="0 -.23 -.2" euler="0 84.5 0" rgba="0 0 1 1"/> | |
| </replicate> | |
| </body> | |
| <body name="2" pos=".6 0 .3" euler="0 0 90"> | |
| <freejoint/> | |
| <replicate count="50" offset="0 0 0.01" euler="0 0 15"> | |
| <geom type="capsule" pos=".025 -.2 -.2" size=".032 .04" euler="-24 -12 2" rgba=".8 0 0 1"/> | |
| </replicate> | |
| </body> | |
| </worldbody> | |
| <sensor> | |
| <fromto body1="1" body2="2" cutoff="1"/> | |
| </sensor> | |
| </mujoco> | |