Contact Layer Viewer

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How to read this

The demo is the 1,721-frame trajectory shipped with cmg (step_example_trajectory.npz): the disk pushes the box into the step corner, tips it over the corner onto the platform, then pushes it along the platform. Each frame is labeled by the step-1 contact layer (PlanarCatalog.band), with θ_e = arcsin(ε_on/h) ≈ 1.83°.
The scene is drawn in the x–z plane with +x to the left, as in the paper. Thick colored segments are the contact sets K_c of the contacts that are on, one color per body pair; a dot is a one-point contact set. Labels are the paper's names where there is one (g, g_v, s, s_v, t, m_x, m_z), else the catalog name.
The table compares, per body pair, the one contact the principal-contact rule turns on with the number of closed-feature templates in band (the old test, which lit 3 to 6 bits for one physical contact).
The two strips under the scene span the whole demo: the formation (one shade per run of frames with the same on-set; hover for it) and the box tilt with the θ_e threshold. Click or drag on either to jump. The buttons above jump to the key moments.
Navigate the scene: drag to pan, scroll or pinch to zoom, or use the buttons; "Follow the box" keeps it centered. Keys: ← → step one frame, space plays.

Follow the box

Formation over the demo

Box tilt (0–12°, clipped; dashed: θ_e ≈ 1.83°)

Body pair	On (principal)	In band (closed features)

Each row is a run of frames with one on-set; click to jump.

Frames	On-set