Datasets:

introvoyz041
/

mujoco

	<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>