(self)
Geoms in this walker that are expected to be in contact with the ground.

    This property is used by some tasks to determine contact-based failure
    termination. It should only contain geoms that are expected to be in
    contact with the ground during "normal" locomotion. For example, for a
    humanoid model, this property would be expected to contain only the geoms
    that make up the two feet.

    Note that certain specialized tasks may also allow geoms that are not listed
    here to be in contact with the ground. For example, a humanoid cartwheel
    task would also allow the hands to touch the ground in addition to the feet.
Geoms in this walker that are expected to be in contact with the ground.
Geoms in this walker that are expected to be in contact with the ground .
def ground_contact_geoms(self):
    """Geoms in this walker that are expected to be in contact with the ground.

    This property is used by some tasks to determine contact-based failure
    termination. It should only contain geoms that are expected to be in
    contact with the ground during "normal" locomotion. For example, for a
    humanoid model, this property would be expected to contain only the geoms
    that make up the two feet.

    Note that certain specialized tasks may also allow geoms that are not listed
    here to be in contact with the ground. For example, a humanoid cartwheel
    task would also allow the hands to touch the ground in addition to the feet.
    """
    raise NotImplementedError
def ground_contact_geoms ( self ) : raise NotImplementedError