sim.resources.collision_model.SapCollisionState

class sim.resources.collision_model.SapCollisionState(body_q: array, requires_grad: bool = False)

Bases: object

Collision-side state containing body poses in the shape model frame expected by SapCollisionPipeline.

__init__(body_q: array, requires_grad: bool = False) → None

Methods

__init__(body_q[, requires_grad])

Attributes

requires_grad
body_q