get_contact_points()

List[PointContact] get_contact_points	(		self,
		Optional[str]	link_name = None
	)

Get contact points from PyBullet simulation.

Parameters

link_name

Optional link name to filter contacts. If provided, only returns contact points involving this specific link. If None, returns all contact points for the robot.

Returns

List of PointContact instances representing contact points from the robot's perspective.