Datasets:

introvoyz041
/

mujoco

	<mujoco model="touchtest">
	<compiler autolimits="true"/>

	<extension>
	<plugin plugin="mujoco.sdf.gear">
	<instance name="gear">
	<config key="alpha" value="0"/>
	</instance>
	</plugin>
	<plugin plugin="mujoco.sensor.touch_stress">
	<instance name="touch_stress">
	<config key="size" value="37 37"/>
	<config key="fov" value="45 45"/>
	<config key="gamma" value="0"/>
	<config key="nchannel" value="3"/>
	</instance>
	</plugin>
	</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"/>
	<mesh name="gear">
	<plugin instance="gear"/>
	</mesh>
	</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="3 3 .01"/>

	<geom type="sdf" name="gear" mesh="gear" rgba="0.4 0.4 0.4 1" pos="-1.3 0 0">
	<plugin instance="gear"/>
	</geom>

	<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="sphere" size=".3" mass="0.1" rgba=".5 .5 .5 .3"/>
	<site name="touch"/>
	</body>
	</worldbody>

	<sensor>
	<plugin instance="touch_stress" objtype="site" objname="touch"/>
	</sensor>
	</mujoco>