| <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> | |