pydrake.multibody.cenic

class pydrake.multibody.cenic.CenicIntegrator

Bases: pydrake.systems.analysis.IntegratorBase

Convex Error-controlled Numerical Integration for Contact (CENIC) is a specialized error-controlled implicit integrator for contact-rich robotics simulations [Kurtz and Castro, 2025].

Warning

This class is currently just a stub that throws when used.

References:

[Kurtz and Castro, 2025] Kurtz V. and Castro A., 2025. CENIC: Convex Error-controlled Numerical Integration for Contact. https://arxiv.org/abs/2511.08771.

Note

This class is templated; see CenicIntegrator_ for the list of instantiations.

__init__(self: pydrake.multibody.cenic.CenicIntegrator, system: pydrake.systems.framework.System, context: pydrake.systems.framework.Context = None) → None

Constructs the integrator.

Parameter system:: The overall system diagram to simulate. Must include a MultibodyPlant and associated SceneGraph, with the plant found as a direct child of the system diagram using the subsystem name "plant". This system is aliased by this object so must remain alive longer than the integrator.
Parameter context:: context for the overall system.

template pydrake.multibody.cenic.CenicIntegrator_: Instantiations: CenicIntegrator_[float], CenicIntegrator_[AutoDiffXd]

class pydrake.multibody.cenic.CenicIntegrator_[AutoDiffXd]

Bases: pydrake.systems.analysis.IntegratorBase_[AutoDiffXd]