code: def BeginContact(self, contact):
      if (
          self.env.hull == contact.fixtureA.body
          or self.env.hull == contact.fixtureB.body
      ):
          self.env.game_over = True
      for leg in [self.env.legs[1], self.env.legs[3]]:
          if leg in [contact.fixtureA.body, contact.fixtureB.body]:
              leg.ground_contact = True
  
imports: import math
  from typing import TYPE_CHECKING, List, Optional
  import numpy
  import gym
  from gym import error, spaces
  from gym.error import DependencyNotInstalled
  from gym.utils import EzPickle
label_desc: Use image node_id 2 for calling the ContactDetector obj's underlying member method code with example usage: obj.BeginContact(contact) without return types