sim.contact_jacobian.SapContactJacobianResult#

class sim.contact_jacobian.SapContactJacobianResult(contact_count: int, truncated_contact_count: int, contact_env_count: array, contact_env_phi0: array, contact_env_jacobian: array, contact_env_w_eff: array, contact_env_mu: array, contact_env_stiffness: array, contact_env_R_WC: array, contact_env_point: array, contact_env_witness0: array, contact_env_witness1: array, contact_env_body0: array, contact_env_body1: array, body_jacobian_local: array, dynamics_matrix_env: array, contact_env_tau_d: array | None = None, local_joint_qd_sap_input: array | None = None, local_free_motion_joint_qd_sap: array | None = None, local_dynamics_matrix_env: array | None = None, local_contact_env_phi0: array | None = None, local_contact_env_jacobian: array | None = None, local_contact_env_w_eff: array | None = None, local_contact_env_mu: array | None = None, local_contact_env_stiffness: array | None = None, local_contact_env_tau_d: array | None = None, local_contact_env_R_WC: array | None = None, local_contact_env_point: array | None = None, local_contact_env_body0: array | None = None, local_contact_env_body1: array | None = None)[source]#

Bases: object

Views into buffers owned by SapContactJacobian.

__init__(contact_count: int, truncated_contact_count: int, contact_env_count: array, contact_env_phi0: array, contact_env_jacobian: array, contact_env_w_eff: array, contact_env_mu: array, contact_env_stiffness: array, contact_env_R_WC: array, contact_env_point: array, contact_env_witness0: array, contact_env_witness1: array, contact_env_body0: array, contact_env_body1: array, body_jacobian_local: array, dynamics_matrix_env: array, contact_env_tau_d: array | None = None, local_joint_qd_sap_input: array | None = None, local_free_motion_joint_qd_sap: array | None = None, local_dynamics_matrix_env: array | None = None, local_contact_env_phi0: array | None = None, local_contact_env_jacobian: array | None = None, local_contact_env_w_eff: array | None = None, local_contact_env_mu: array | None = None, local_contact_env_stiffness: array | None = None, local_contact_env_tau_d: array | None = None, local_contact_env_R_WC: array | None = None, local_contact_env_point: array | None = None, local_contact_env_body0: array | None = None, local_contact_env_body1: array | None = None) → None#

Methods

__init__(contact_count, ...[, ...])

Attributes

`contact_env_tau_d`
`local_contact_env_R_WC`
`local_contact_env_body0`
`local_contact_env_body1`
`local_contact_env_jacobian`
`local_contact_env_mu`
`local_contact_env_phi0`
`local_contact_env_point`
`local_contact_env_stiffness`
`local_contact_env_tau_d`
`local_contact_env_w_eff`
`local_dynamics_matrix_env`
`local_free_motion_joint_qd_sap`
`local_joint_qd_sap_input`
`contact_count`
`truncated_contact_count`
`contact_env_count`
`contact_env_phi0`
`contact_env_jacobian`
`contact_env_w_eff`
`contact_env_mu`
`contact_env_stiffness`
`contact_env_R_WC`
`contact_env_point`
`contact_env_witness0`
`contact_env_witness1`
`contact_env_body0`
`contact_env_body1`
`body_jacobian_local`
`dynamics_matrix_env`