mujoco

<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>