(self, physics)
return self.collect_contacts(physics, self._body_geom_ids)
Collect the contacts with the body.

    This function returns any contacts being made with any of body geoms, except
    the end effectors, both the other geom with which contact is being made as
    well as the magnitude.

    Args:
      physics: an instance of `Physics`.

    Returns:
      a dict with as key a tuple of geom ids, of which one is a body geom,
      and as value the total magnitude of all contacts between these geoms
Collect the contacts with the body.
Collect the contacts with the body .
def body_contacts(self, physics):
    """Collect the contacts with the body.

    This function returns any contacts being made with any of body geoms, except
    the end effectors, both the other geom with which contact is being made as
    well as the magnitude.

    Args:
      physics: an instance of `Physics`.

    Returns:
      a dict with as key a tuple of geom ids, of which one is a body geom,
      and as value the total magnitude of all contacts between these geoms
    """
    return self.collect_contacts(physics, self._body_geom_ids)
def body_contacts ( self , physics ) : return self . collect_contacts ( physics , self . _body_geom_ids )