in bisk/tasks/gaps.py [0:0]
def on_step_single_frame(self):
for c in self.p.data.contact:
names = self.p.named.model.name_geomadr.axes.row.names
nams = sorted([names[c.geom1], names[c.geom2]])
if nams[0].startswith('gap') and nams[1].startswith('robot/'):
self.touched_gap = True
break