Yuval Tassa
b397b3123e
PiperOrigin-RevId: 527512624 Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
55 lines
1.8 KiB
XML
55 lines
1.8 KiB
XML
<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_x" value="7"/>
|
|
<config key="size_y" value="7"/>
|
|
<config key="fov_x" value="45"/>
|
|
<config key="fov_y" value="45"/>
|
|
<config key="gamma" value="0"/>
|
|
<config key="nchannel" value="3"/>
|
|
</plugin>
|
|
</sensor>
|
|
</mujoco>
|