Contact-force / torque observations from the unified Contacts aggregate.
Aggregates per-body contact normal forces, tangential forces, and contact
positions for sensing applications.
SensorContact(model: Model, body_indices: list[int])
Methods
| Method |
Description |
update(state, contacts) |
Aggregate contacts onto the configured body indices. |
Attributes
| Attribute |
Description |
forces |
Per-body contact force vectors. |
torques |
Per-body contact torque vectors. |
contact_count |
Number of contacts aggregated this step per body. |
See Also