irsim.world.sensors.contact2d

Classes

Contact2D

Contact sensor of one object: what the contact step recorded about it

Module Contents

class irsim.world.sensors.contact2d.Contact2D(state: numpy.ndarray | None = None, obj_id: int = 0, force_scale: float = 0.05, marker_size: float = 6.0, linewidth: float = 1.5, alpha: float = 0.9, **kwargs)

Contact sensor of one object: what the contact step recorded about it (collision_mode: contact only), as a contact sensor mounted on the object reports.

Every object carries one as obj.contact, written by the environment and the contact solver, so its readings are always available: obj.contact.in_contact, partners, reports, force, contact_time, air_time, started and ended. Listing it under the object's sensors as type: 'contact2d' makes that one the object's sensor and draws it: a marker at each contact point and a line along the contact normal whose length is the contact force times force_scale.

参数:

• state (np.ndarray) -- Initial state of the object [x, y, theta], kept for the common sensor interface; the readings do not depend on it.

• obj_id (int) -- ID of the associated object.

• force_scale (float) -- Length of the drawn force line per newton, in meters. Default 0.05.

• marker_size (float) -- Size of the contact point markers. Default 6.

• linewidth (float) -- Width of the force lines. Default 1.5.

• alpha (float) -- Transparency of the drawing. Default 0.9.

• **kwargs -- plot sub-dict (preferred) with the visualization options above and color (default: the palette marker color), plus the name / type key of the YAML entry.

变量:

• sensor_type (str) -- "contact2d".

• parent (ObjectBase) -- The object the sensor is mounted on.

• in_contact (bool) -- Whether a contact was resolved against parent in the last step.

• partners (list) -- The objects parent touched in the last step, each once.

• records (list[Contact]) -- The contact records of the last step, in the solver's order.

• force (np.ndarray) -- Net world-frame contact force (2, 1) on parent in the last step, in newtons.

• contact_time (float) -- Seconds parent has been touching something.

• air_time (float) -- Seconds parent has been free; one of the two timers runs while the other is held at zero.

• started (bool) -- Whether the last step began a contact.

• ended (bool) -- Whether the last step ended one.

sensor_type = 'contact2d'

obj_id = 0

parent: irsim.world.object_base.ObjectBase | None = None

force_scale

marker_size

linewidth

alpha

color

in_contact = False

partners: list[Any] = []

records: list[irsim.lib.algorithm.contact.Contact] = []

force

contact_time = 0.0

air_time = 0.0

started = False

ended = False

property reports: list[irsim.lib.algorithm.contact.ContactReport]

Last step's contacts seen from parent's side.

clear() → None

Forget last step's contacts: flag, partners, records and force.

reset() → None

Forget everything, the timers included, as at the start of a run.

add(contact: irsim.lib.algorithm.contact.Contact) → None

Record a contact the solver resolved against parent.

add_force(force_xy: numpy.ndarray) → None

Accumulate a world-frame force (2,) or (2, 1) on parent.

tick(step_time: float) → None

Advance contact_time or air_time by one step and raise started or ended for a step that switched between them.

step(state: numpy.ndarray) → None

Keep the sensor state; the readings are written by the contact step.

plot(ax, state: numpy.ndarray | None = None, **kwargs) → None

Draw the contact points and force lines on a given axis.

Nothing is drawn on a 3D axis, since contacts are planar.

step_plot() → None

Move the markers and force lines to the last step's contacts.

plot_clear() → None

Remove the drawing from the axis.