(self, physics)
return self.collect_contacts(physics, self._end_effector_geom_ids)
Collect the contacts with the end effectors.

    This function returns any contacts being made with any of 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 an end effector,
      and as value the total magnitude of all contacts between these geoms
Collect the contacts with the end effectors.
Collect the contacts with the end effectors .
def end_effector_contacts(self, physics):
    """Collect the contacts with the end effectors.

    This function returns any contacts being made with any of 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 an end effector,
      and as value the total magnitude of all contacts between these geoms
    """
    return self.collect_contacts(physics, self._end_effector_geom_ids)
def end_effector_contacts ( self , physics ) : return self . collect_contacts ( physics , self . _end_effector_geom_ids )