Detects when a contact between the tool and an object happens.

Parameters

direction: List of six floats. The first three elements are interpreted as a 3D vector (in the robot base coordinate system) giving the direction in which contacts should be detected. If all elements of the list are zero, contacts from all directions are considered.

Return Value

Integer. The returned value is the number of time steps back to just before the contact have started. A value larger than 0 means that a contact is detected. A value of 0 means no contact.