How to configure the planar touch grid? #2269

Qiang-Diao · 2024-12-04T02:00:02Z

Qiang-Diao
Dec 4, 2024

Intro

Hi!

I am a researcher, I am using MuJoCo for my research on touch array simulation. But there exists some confusion of how to configure the planar touch grid due to the parameter seems to be more suited for curved surface configuration in touch grid plugin.

My setup

MuJoCo Versioin: version 3.2.5
API: Python
System Platform: Windows

My question

Hi!

I am a researcher, I am using MuJoCo for my research on touch array simulation. But there exists some confusion of how to configure the planar touch grid due to the parameter seems to be more suited for curved surface configuration in touch grid plugin.

Minimal model and/or code that explain my question

There is the github example below about the use method of touch grid plugin, but I want to konw how to configure the plane touch grid better. Because the parameters used by this example below look like a better fit for a curved touch grid.

<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" value="7 7"/>
      <config key="fov" value="45 45"/>
      <config key="gamma" value="0"/>
      <config key="nchannel" value="3"/>
    </plugin>
  </sensor>
</mujoco>


### Confirmations

- [X] I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
- [X] I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.

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How to configure the planar touch grid? #2269

Qiang-Diao Dec 4, 2024

Intro

My setup

My question

Minimal model and/or code that explain my question

Replies: 0 comments

Qiang-Diao
Dec 4, 2024