Yuval Tassa
7443e685ac
PiperOrigin-RevId: 799632590 Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
29 lines
936 B
XML
29 lines
936 B
XML
<mujoco model="contact subtree">
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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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<body name="thigh" pos="-1 0 .1">
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<joint type="slide"/>
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<geom type="capsule" size=".1" fromto="0 0 0 .5 0 0"/>
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<body name="shin" pos=".7 0 0">
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<joint axis="0 1 0"/>
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<geom type="capsule" size=".1" fromto="0 0 0 0 0 .5"/>
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<body name="foot" pos="0 0 .7">
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<joint axis="0 1 0"/>
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<geom type="capsule" size=".1" fromto="0 0 0 -.7 0 0"/>
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</body>
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</body>
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</body>
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</worldbody>
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<sensor>
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<contact name="all"/>
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<contact name="world" subtree1="world"/>
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<contact name="thigh" subtree1="thigh"/>
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<contact name="shin" subtree1="shin"/>
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<contact name="foot" subtree1="foot"/>
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<contact name="foot_w" subtree1="foot" body2="world"/>
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<contact name="foot_w2" subtree1="foot" subtree2="world"/>
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</sensor>
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</mujoco>
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