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Move tactile sensor to the engine.

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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
This commit is contained in:
Alessio Quaglino
2025-07-30 05:26:39 -07:00
committed by Copybara-Service
parent 89f4789085
commit 51babec9c5
28 changed files with 418 additions and 687 deletions
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model/plugin/sensor/touch_stress.xml → model/tactile/tactile.xml
+13 -11
View File
@@ -1,5 +1,6 @@
<mujoco model="touchtest">
<compiler autolimits="true"/>
<option sdf_initpoints="20"/>
<extension>
<plugin plugin="mujoco.sdf.gear">
@@ -7,14 +8,6 @@
<config key="alpha" value="0"/>
</instance>
</plugin>
<plugin plugin="mujoco.sensor.touch_stress">
<instance name="touch_stress">
<config key="size" value="37 37"/>
<config key="fov" value="45 45"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="3"/>
</instance>
</plugin>
</extension>
<asset>
@@ -24,6 +17,8 @@
<mesh name="gear">
<plugin instance="gear"/>
</mesh>
<mesh name="sphere" builtin="wedge" params="37 37 45 45 0" scale=".3 .3 .3"/>
<mesh name="box" builtin="plate" params="37 37" scale=".3 .5 .2"/>
</asset>
<visual>
@@ -47,18 +42,25 @@
<plugin instance="gear"/>
</geom>
<body name="ball" pos="0 0 1">
<body name="ball" pos="-1 1 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="sphere" size=".3" mass="0.1" rgba=".5 .5 .5 .3"/>
<site name="touch"/>
<geom name="ball" type="mesh" mesh="sphere" mass="0" contype="0" conaffinity="0" rgba=".5 .5 .5 0"/>
</body>
<body name="finger" pos="0 0 1">
<freejoint/>
<geom type="box" size=".3 .5 .2" mass="0.1" rgba=".5 .5 .5 .3"/>
<geom name="finger" type="mesh" mesh="box" mass="0" contype="0" conaffinity="0" rgba=".5 .5 .5 0"/>
</body>
</worldbody>
<sensor>
<plugin instance="touch_stress" objtype="site" objname="touch"/>
<tactile geom="ball" mesh="sphere"/>
<tactile geom="finger" mesh="box"/>
</sensor>
</mujoco>