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Add netforce reduction to contact sensor.

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PiperOrigin-RevId: 783020713
Change-Id: I0d11ccc4e1fd16d07e6f116d64a26485346d9cf1
This commit is contained in:
Yuval Tassa
2025-07-14 13:26:49 -07:00
committed by Copybara-Service
parent d0e4771c8c
commit 576a34bcf2
4 changed files with 195 additions and 17 deletions
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test/engine/testdata/sensor/contact_net.xml
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+31
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<mujoco model="contact net">
<statistic meansize="0.05"/>
<default>
<geom condim="6"/>
</default>
<worldbody>
<light pos="0 0 3"/>
<geom name="floor" type="plane" size=".5 1 .01"/>
<body name="b1" pos="0 0 .4" euler="5 5 5">
<freejoint/>
<geom type="box" pos="0 0 .06" size=".15 .15 .03" rgba=".8 .2 .1 .2"/>
<geom type="box" pos="-.05 0 .005" size=".04 .04 .025" rgba=".8 .2 .1 1" euler="1 1 1"/>
<geom size=".05" pos=".1 -.1 .04" rgba=".8 .2 .1 1"/>
</body>
<body name="b2" pos="0 0 .2">
<joint type="ball" springdamper="0.1 1"/>
<geom type="box" size=".2 .2 .05" rgba=".8 .2 .1 1"/>
<geom size=".05" pos=".1 .1 .05" rgba=".8 .2 .1 1"/>
<geom type="box" size=".05 .05 .01" pos=".1 -.1 .06" rgba=".8 .2 .1 1" euler="2 2 2"/>
</body>
</worldbody>
<sensor>
<contact name="net12" body1="b1" body2="b2" data="force torque pos" reduce="netforce"/>
<contact name="net21" body1="b2" body2="b1" data="force torque pos" reduce="netforce"/>
</sensor>
</mujoco>