How to detect contacts of certain joints?

Discussion in 'Simulation' started by John, Jan 27, 2019.

  1. John

    John

    I'm working with the half-cheetah model and I would like to know what function can be used to determine when a joint is contacting the ground.

    Thanks!
     
    John, Jan 27, 2019
    #1
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    Joints do not make contacts. Geoms make contacts. You can examine the list of contacts in mjData and find out which geoms are involved.
     
    Emo Todorov, Jan 27, 2019
    #2