Yuval Tassa
d0e4771c8c
PiperOrigin-RevId: 783011982 Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
31 lines
1015 B
XML
31 lines
1015 B
XML
<mujoco model="contact subtree">
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<asset>
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<model file="humanoid.xml"/>
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</asset>
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<worldbody>
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<light pos="0 0 5"/>
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<geom name="floor" type="plane" size="2 2 .01"/>
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<!-- two horizontal humanoids, in the air, one above the other -->
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<frame pos="-.5 0 1.2" euler="0 90 0">
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<attach model="Humanoid" body="torso" prefix="1"/>
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</frame>
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<frame pos="-.5 0 0.5" euler="0 90 -90">
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<attach model="Humanoid" body="torso" prefix="2"/>
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</frame>
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</worldbody>
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<sensor>
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<contact name="all"/>
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<contact name="w_t1" body1="world" subtree2="1torso"/>
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<contact name="w_t2" body1="world" subtree2="2torso"/>
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<contact name="t1" subtree1="1torso"/>
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<contact name="t2" subtree1="2torso"/>
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<contact name="t1_t1" subtree1="1torso" subtree2="1torso"/>
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<contact name="t2_t2" subtree1="2torso" subtree2="2torso"/>
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<contact name="t1_t2" subtree1="1torso" subtree2="2torso"/>
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<contact name="t2_t1" subtree1="2torso" subtree2="1torso"/>
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</sensor>
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</mujoco>
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