| <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> | |