Alessio Quaglino
e59720833e
PiperOrigin-RevId: 528783871 Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
53 lines
1.7 KiB
XML
53 lines
1.7 KiB
XML
<mujoco model="touchtest">
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<compiler autolimits="true"/>
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<extension>
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<plugin plugin="mujoco.sensor.touch_grid"/>
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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" 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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<hfield file="a.png" size="0.2 0.2 0.02 0.015"/>
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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="1 1 .01"/>
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<geom name="a" type="hfield" hfield="a" rgba=".5 .5 .7 1"/>
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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="ellipsoid" size=".3 .5 .1" mass="0.1" rgba=".5 .5 .5 .3"/>
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<site name="touch" pos="0 0 .1"/>
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</body>
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</worldbody>
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<sensor>
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<plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
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<config key="size" value="7 7"/>
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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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</plugin>
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</sensor>
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</mujoco>
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