| <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> | |