File size: 1,745 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | <mujoco model="touchtest">
<compiler autolimits="true"/>
<extension>
<plugin plugin="mujoco.sensor.touch_grid"/>
</extension>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="3 1" texuniform="true"/>
<hfield file="a.png" size="0.2 0.2 0.02 0.015"/>
</asset>
<visual>
<headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
<map znear="0.01"/>
<scale contactwidth=".02" contactheight=".5"/>
</visual>
<default>
<geom friction="0.4" solimp="0 0.95 0.02"/>
</default>
<statistic center="0 0 1" extent="1" meansize=".1"/>
<worldbody>
<light pos="1 0 .3" dir="-1 0 -.3"/>
<light pos="-1 0 .3" dir="1 0 -.3"/>
<geom name="floor" pos="0 0 -0.01" type="plane" size="1 1 .01"/>
<geom name="a" type="hfield" hfield="a" rgba=".5 .5 .7 1"/>
<body name="ball" pos="0 0 1">
<joint name="x" type="slide" axis="1 0 0" damping="1"/>
<joint name="y" type="slide" axis="0 1 0" damping="1"/>
<joint name="z" type="slide" axis="0 0 1"/>
<joint name="rx" axis="1 0 0" springdamper="0.2 1"/>
<joint name="ry" axis="0 1 0" springdamper="0.2 1"/>
<geom type="ellipsoid" size=".3 .5 .1" mass="0.1" rgba=".5 .5 .5 .3"/>
<site name="touch" pos="0 0 .1"/>
</body>
</worldbody>
<sensor>
<plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
<config key="size" value="7 7"/>
<config key="fov" value="45 45"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="3"/>
</plugin>
</sensor>
</mujoco>
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