File size: 1,301 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 | <mujoco model="touchtest">
<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"/>
</asset>
<visual>
<headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
<map znear="0.01"/>
</visual>
<default>
<geom friction="0.4"/>
</default>
<statistic center="0 0 1" extent="1" meansize=".1"/>
<option gravity="0 0 -10"/>
<worldbody>
<body name="dummy2">
<geom name="floor" pos="0 0 0" type="plane" size="1 1 .01" material="grid"/>
</body>
<body name="dummy1">
<site name="touch" pos="0 0 10" group="3"/>
</body>
<body name="box" pos="0 0 .1">
<freejoint/>
<geom type="box" size=".1 .1 .1" mass="0.1"/>
</body>
<light pos="0 0 5"/>
</worldbody>
<sensor>
<plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
<config key="size" value="6 2"/>
<config key="fov" value="5.71 5.71"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="3"/>
</plugin>
</sensor>
</mujoco>
|