Methods and properties

Name	Kind	Summary
register_custom_attributes	classmethod	Register the body, shape and joint DOF attributes consumed by Steel in the steel namespace.
velocity_limits_fused	property	Whether the fused velocity-limit clamp is active: fuse_joint_velocity_limits applies only with drive rows and joint velocity limits.
supported_observables	property	Return the observables available for this configuration; BODY_AWAKE requires enable_sleeping.
observables	method	Allocate observable arrays; body_awake starts with the solver's current flags.
notify_model_changed	method	Refresh cached solver data after model changes.
notify_state_changed	method	Drop the carried kinematics of the selected worlds after writing state outside step.
reset	method	Clear solver-owned state of the selected worlds.
step	method	Advance the simulation by one time step.
constraint_row_watermarks	method	Return the row high-water marks accumulated since construction (row_watermark only).
compliance_contact_count	property	Compliant contacts prepared by the last step (contact_compliance only).
compliance_skipped_contact_count	property	Positive-stiffness contacts the row allocator excluded in the last step (contact_compliance only).
snapshot_constraint_status	method	Copy the status that check_constraint_capacity reports on the device, without waiting.
check_constraint_capacity	method	Raise if any world or the global entry lost contacts or rows, or rejected input, since its last reset.
check_joint_friction	method	Raise if a step read invalid joint friction, or if check_constraint_capacity raises.
validate_contact_compliance	method	Raise if contact compliance rejected its input, or if check_constraint_capacity raises.
joint_friction_invalid	property	Per-world device flags, global entry last, for invalid joint friction read by a step.
joint_qd_public_convention	property	True: free-joint joint_qd is (v_com_world, omega_world), as eval_fk reads it.