Hi. I've attached a touch sensor on the marble which defined in senen.xml flie. I want to simulate the cloth.xml(this file includes the scene.xml) and read the touch sensor data. However, when I run Code: ./simulate ../model/cloth , I get the such a screenshot(attached to this post), there is no way to read the sensor reading, also I can't drag the cloth by the mouse(from the demo video, I think I should be able to interact with the object ). Can you tell me which steps I'm missing? Thank you so much! Code: <mujoco> <!-- Copyright © 2018, Roboti LLC This file is licensed under the MuJoCo Resource License (the "License"). You may not use this file except in compliance with the License. You may obtain a copy of the License at https://www.roboti.us/resourcelicense.txt --> <statistic extent="2" meansize=".05"/> <option timestep="0.005" solver="Newton" iterations="30" tolerance="1e-10" jacobian="sparse" cone="pyramidal"/> <visual> <rgba haze="0.15 0.25 0.35 1"/> <quality shadowsize="2048"/> <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/> </visual> <asset> <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/> <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/> <texture name="texcarpet" type="2d" file="carpet.png"/> <texture name="texsponge" type="2d" file="sponge.png"/> <texture name="texmarble" type="cube" file="marble.png"/> <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/> <material name="matcarpet" texture="texcarpet"/> <material name="matsponge" texture="texsponge" specular="0.3"/> <material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/> </asset> <worldbody> <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/> <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/> <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/> <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1"> <geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/> <site name="s_pin_L" group="3" type="sphere" pos="0.0848666666666667 0 0.03945" size="0.01" rgba="0 0 1 .5" /> </body> </worldbody> <sensor> <touch name="sensor_touch_Ltoe" site="s_pin_L" /> </sensor> </mujoco>
can you be more specific? I mean, I've add the sensor into .xml but have trouble to display its reading, not sure what I'm missing.
The mjtNum* sensordata; // sensor data array (nsensordata x 1) field contains the sensor readings. I think the v 2.0 simulate.cpp lets you visually inspect this in the "Watch" tab.