| <mujoco model="insidesite sensor"> |
|
|
| <default> |
| <site rgba=".4 .7 .6 .3"/> |
| </default> |
|
|
| <worldbody> |
| <light pos="0 0 3"/> |
| <geom name="plane" type="plane" pos="0 0 .5" size="2 2 .01" rgba="0.5 0.5 0.5 1"/> |
|
|
| <body pos="0 0 1"> |
| <joint type="slide" axis="1 0 0" range="-.7 .7" solreflimit="-200 0"/> |
| <geom name="query" type="sphere" size=".02" rgba="1 0 0 1"/> |
| </body> |
|
|
| <site name="sphere" type="sphere" size=".11" pos="-.5 0 1"/> |
| <site name="capsule" type="capsule" size=".08 .15" euler="20 -40 60" pos="-.25 0 1"/> |
| <site name="ellipsoid" type="ellipsoid" size=".11 .15 .09" euler="20 40 -60" pos="0 0 1"/> |
| <site name="cylinder" type="cylinder" size=".09 .12" euler="-20 40 60" pos=".25 0 1"/> |
| <site name="box" type="box" size=".08 .1 .14" euler="20 -40 60" pos=".5 0 1"/> |
| </worldbody> |
|
|
| <sensor> |
| <insidesite name="sphere" site="sphere" objtype="geom" objname="query"/> |
| <insidesite name="capsule" site="capsule" objtype="geom" objname="query"/> |
| <insidesite name="ellipsoid" site="ellipsoid" objtype="geom" objname="query"/> |
| <insidesite name="cylinder" site="cylinder" objtype="geom" objname="query"/> |
| <insidesite name="box" site="box" objtype="geom" objname="query"/> |
| </sensor> |
|
|
| <keyframe> |
| <key qvel="1"/> |
| </keyframe> |
| </mujoco> |
|
|
