Yuval Tassa
d0e4771c8c
PiperOrigin-RevId: 783011982 Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
36 lines
1.2 KiB
XML
36 lines
1.2 KiB
XML
<mujoco model="contact">
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<option gravity="4 0 -3"/>
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<worldbody>
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<light pos="0 0 3"/>
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<geom name="floor" type="plane" size=".5 1 .01"/>
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<geom name="wall" type="plane" size=".25 1 .05" zaxis="-1 0 0" pos=".5 0 .25"/>
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<site name="site" type="box" size=".15 .15 .15" pos=".5 0 0" rgba=".5 .7 .5 .3"/>
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<body name="b1" pos="0 0 .2">
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<freejoint/>
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<geom name="g1" size=".1" rgba=".8 .2 .1 1" mass="1"/>
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</body>
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<body name="b2" pos="-.3 0 .2">
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<freejoint/>
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<geom name="g2" size=".1" rgba=".8 .2 .1 1" mass="1"/>
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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" body1="world"/>
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<contact name="b1" body1="b1"/>
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<contact name="g1" geom1="g1"/>
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<contact name="b1:g2" body1="b1" geom2="g2"/>
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<contact name="b1:world" body1="b1" body2="world"/>
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<contact name="site" site="site"/>
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<contact name="site:wall" site="site" geom2="wall"/>
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<contact name="wall" geom1="wall" num="2" data="found force normal"/>
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<contact name="b2" body1="b2" data="force normal" num="2"/>
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<contact name="b2_flipped" body2="b2" data="force normal" num="2"/>
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<contact name="b2_reduced" body2="b2" data="force normal" reduce="maxforce"/>
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</sensor>
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</mujoco>
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