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Add contact sensor.

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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
This commit is contained in:
Yuval Tassa
2025-07-14 13:01:55 -07:00
committed by Copybara-Service
parent e441868dad
commit d0e4771c8c
25 changed files with 1343 additions and 47 deletions
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test/engine/testdata/sensor/contact_subtree.xml
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+30
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<mujoco model="contact subtree">
<asset>
<model file="humanoid.xml"/>
</asset>
<worldbody>
<light pos="0 0 5"/>
<geom name="floor" type="plane" size="2 2 .01"/>
<!-- two horizontal humanoids, in the air, one above the other -->
<frame pos="-.5 0 1.2" euler="0 90 0">
<attach model="Humanoid" body="torso" prefix="1"/>
</frame>
<frame pos="-.5 0 0.5" euler="0 90 -90">
<attach model="Humanoid" body="torso" prefix="2"/>
</frame>
</worldbody>
<sensor>
<contact name="all"/>
<contact name="w_t1" body1="world" subtree2="1torso"/>
<contact name="w_t2" body1="world" subtree2="2torso"/>
<contact name="t1" subtree1="1torso"/>
<contact name="t2" subtree1="2torso"/>
<contact name="t1_t1" subtree1="1torso" subtree2="1torso"/>
<contact name="t2_t2" subtree1="2torso" subtree2="2torso"/>
<contact name="t1_t2" subtree1="1torso" subtree2="2torso"/>
<contact name="t2_t1" subtree1="2torso" subtree2="1torso"/>
</sensor>
</mujoco>