(self)
return tuple(
        self._mjcf_root.find('body', 'foot_L').find_all('geom') +
        self._mjcf_root.find('body', 'foot_R').find_all('geom') +
        self._mjcf_root.find('body', 'hand_L').find_all('geom') +
        self._mjcf_root.find('body', 'hand_R').find_all('geom') +
        self._mjcf_root.find('body', 'vertebra_C1').find_all('geom')
        )
Return ground contact geoms.
Return ground contact geoms.
Return ground contact geoms .
def ground_contact_geoms(self):
    """Return ground contact geoms."""
    return tuple(
        self._mjcf_root.find('body', 'foot_L').find_all('geom') +
        self._mjcf_root.find('body', 'foot_R').find_all('geom') +
        self._mjcf_root.find('body', 'hand_L').find_all('geom') +
        self._mjcf_root.find('body', 'hand_R').find_all('geom') +
        self._mjcf_root.find('body', 'vertebra_C1').find_all('geom')
        )
def ground_contact_geoms ( self ) : return tuple ( self . _mjcf_root . find ( 'body' , 'foot_L' ) . find_all ( 'geom' ) + self . _mjcf_root . find ( 'body' , 'foot_R' ) . find_all ( 'geom' ) + self . _mjcf_root . find ( 'body' , 'hand_L' ) . find_all ( 'geom' ) + self . _mjcf_root . find ( 'body' , 'hand_R' ) . find_all ( 'geom' ) + self . _mjcf_root . find ( 'body' , 'vertebra_C1' ) . find_all ( 'geom' ) )