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contact_subscribed_state_mixin

ContactSubscribedStateMixin

Bases: ABC

Handles contact events (including CONTACT_FOUND, CONTACT_PERSIST, and CONTACT_LOST). The subclass should implement its own on_contact method

Source code in omnigibson/object_states/contact_subscribed_state_mixin.py 
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class ContactSubscribedStateMixin(ABC):
    """
    Handles contact events (including CONTACT_FOUND, CONTACT_PERSIST, and CONTACT_LOST).
    The subclass should implement its own on_contact method
    """
    @abstractmethod
    def on_contact(self, other, contact_headers, contact_data):
        raise NotImplementedError("Subclasses of ContactSubscribedStateMixin should implement the on_contact method.")