Alessio Quaglino
e59720833e
PiperOrigin-RevId: 528783871 Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
51 lines
1.3 KiB
XML
51 lines
1.3 KiB
XML
<mujoco model="touchtest">
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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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</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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</visual>
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<default>
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<geom friction="0.4"/>
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</default>
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<statistic center="0 0 1" extent="1" meansize=".1"/>
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<option gravity="0 0 -10"/>
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<worldbody>
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<body name="dummy2">
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<geom name="floor" pos="0 0 0" type="plane" size="1 1 .01" material="grid"/>
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</body>
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<body name="dummy1">
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<site name="touch" pos="0 0 10" group="3"/>
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</body>
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<body name="box" pos="0 0 .1">
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<freejoint/>
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<geom type="box" size=".1 .1 .1" mass="0.1"/>
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</body>
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<light pos="0 0 5"/>
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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="6 2"/>
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<config key="fov" value="5.71 5.71"/>
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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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