mujoco

<mujoco model="touchtest">
  <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"/>
  </asset>

  <visual>
      <headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
      <map znear="0.01"/>
  </visual>

  <default>
    <geom friction="0.4"/>
  </default>

  <statistic center="0 0 1" extent="1" meansize=".1"/>

  <option gravity="0 0 -10"/>

  <worldbody>
    <body name="dummy2">
      <geom name="floor" pos="0 0 0" type="plane" size="1 1 .01" material="grid"/>
    </body>

    <body name="dummy1">
      <site name="touch" pos="0 0 10" group="3"/>
    </body>

    <body name="box" pos="0 0 .1">
      <freejoint/>
      <geom type="box" size=".1 .1 .1" mass="0.1"/>
    </body>

    <light pos="0 0 5"/>

  </worldbody>

  <sensor>
    <plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
      <config key="size" value="6 2"/>
      <config key="fov" value="5.71 5.71"/>
      <config key="gamma" value="0"/>
      <config key="nchannel" value="3"/>
    </plugin>
  </sensor>
</mujoco>