| <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> | |