novaphy.sensors.SensorContact¶
Contact-force and torque observations from the unified Contacts aggregate.
The sensor aggregates solver-populated contact impulses for selected bodies
and converts them to forces using the step duration.
Passing None monitors every body in the model.
Methods¶
| Method | Description |
|---|---|
update(state, contacts, dt) |
Aggregate contacts for the current step; dt must be positive. |
Attributes¶
| Attribute | Description |
|---|---|
forces |
(N, 3) world-frame contact forces. |
torques |
(N, 3) world-frame contact torques about each stored body/link frame origin. |
num_contacts |
(N,) number of contacts aggregated this step. |
num_sensors |
Number of monitored bodies. |