Alessio Quaglino
2386dfd7da
PiperOrigin-RevId: 758556339 Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
65 lines
1.9 KiB
XML
65 lines
1.9 KiB
XML
<mujoco model="touchtest">
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<compiler autolimits="true"/>
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<extension>
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<plugin plugin="mujoco.sdf.gear">
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<instance name="gear">
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<config key="alpha" value="0"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.sensor.touch_stress">
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<instance name="touch_stress">
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<config key="size" value="37 37"/>
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<config key="fov" value="45 45"/>
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<config key="gamma" value="0"/>
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<config key="nchannel" value="3"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4"
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width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="3 1" texuniform="true"/>
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<mesh name="gear">
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<plugin instance="gear"/>
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</mesh>
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</asset>
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<visual>
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<headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
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<map znear="0.01"/>
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<scale contactwidth=".02" contactheight=".5"/>
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</visual>
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<default>
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<geom friction="0.4" solimp="0 0.95 0.02"/>
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</default>
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<statistic center="0 0 1" extent="1" meansize=".1"/>
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<worldbody>
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<light pos="1 0 .3" dir="-1 0 -.3"/>
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<light pos="-1 0 .3" dir="1 0 -.3"/>
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<geom name="floor" pos="0 0 -0.01" type="plane" size="3 3 .01"/>
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<geom type="sdf" name="gear" mesh="gear" rgba="0.4 0.4 0.4 1" pos="-1.3 0 0">
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<plugin instance="gear"/>
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</geom>
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<body name="ball" pos="0 0 1">
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<joint name="x" type="slide" axis="1 0 0" damping="1"/>
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<joint name="y" type="slide" axis="0 1 0" damping="1"/>
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<joint name="z" type="slide" axis="0 0 1"/>
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<joint name="rx" axis="1 0 0" springdamper="0.2 1"/>
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<joint name="ry" axis="0 1 0" springdamper="0.2 1"/>
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<geom type="sphere" size=".3" mass="0.1" rgba=".5 .5 .5 .3"/>
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<site name="touch"/>
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</body>
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</worldbody>
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<sensor>
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<plugin instance="touch_stress" objtype="site" objname="touch"/>
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</sensor>
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</mujoco>
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