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Add contact force support function. #1555

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PiperOrigin-RevId: 632591177
Change-Id: I15aa00686d9f885330506d2d63443c700cc029f6
This commit is contained in:
Baruch Tabanpour
2024-05-10 13:40:29 -07:00
committed by Copybara-Service
parent 65d4f04cd4
commit c6b1293e58
3 changed files with 99 additions and 4 deletions
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mjx/mujoco/mjx/test_data/convex.xml
-4
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@@ -1,8 +1,4 @@
<mujoco model="convex_convex">
<custom>
<numeric data="0.2" name="baumgarte_erp"/>
<numeric data="0.5" name="elasticity"/>
</custom>
<default>
<geom friction="0.5 0.0 0.0"/>
</default>