deploy: 626e08e

Author: ooctipus

main/_modules/isaaclab/sensors/contact_sensor/contact_sensor.html

@@ -578,6 +578,22 @@ <h1>Source code for isaaclab.sensors.contact_sensor.contact_sensor_cfg</h1><div
     <span class="n">track_pose</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to track the pose of the sensor&#39;s origin. Defaults to False.&quot;&quot;&quot;</span>
 
+    <span class="n">track_contact_points</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to track the contact point locations. Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">max_contact_data_count_per_prim</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">4</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The maximum number of contacts across all batches of the sensor to keep track of. Default is 4.</span>
+
+<span class="sd">    This parameter sets the total maximum counts of the simulation across all bodies and environments. The total number</span>
+<span class="sd">    of contacts allowed is max_contact_data_count_per_prim*num_envs*num_sensor_bodies.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        If the environment is very contact rich it is suggested to increase this parameter to avoid out of bounds memory</span>
+<span class="sd">        errors and loss of contact data leading to inaccurate measurements.</span>
+
+<span class="sd">        &quot;&quot;&quot;</span>
+
     <span class="n">track_air_time</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to track the air/contact time of the bodies (time between contacts). Defaults to False.&quot;&quot;&quot;</span>
 
@@ -607,6 +623,7 @@ <h1>Source code for isaaclab.sensors.contact_sensor.contact_sensor_cfg</h1><div
 <span class="sd">        single primitive in that environment. If the sensor primitive corresponds to multiple primitives, the</span>
 <span class="sd">        filtering will not work as expected. Please check :class:`~isaaclab.sensors.contact_sensor.ContactSensor`</span>
 <span class="sd">        for more details.</span>
+<span class="sd">        If track_contact_points is true, then filter_prim_paths_expr cannot be an empty list!</span>
 <span class="sd">    &quot;&quot;&quot;</span>
 
     <span class="n">visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">CONTACT_SENSOR_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/ContactSensor&quot;</span><span class="p">)</span>

main/_modules/isaaclab/sensors/contact_sensor/contact_sensor_cfg.html

@@ -579,6 +579,21 @@ <h1>Source code for isaaclab.sensors.contact_sensor.contact_sensor_data</h1><div
 
 <span class="sd">    Note:</span>
 <span class="sd">        If the :attr:`ContactSensorCfg.track_pose` is False, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">contact_pos_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Average of the positions of contact points between sensor body and filter prim in world frame.</span>
+
+<span class="sd">    Shape is (N, B, M, 3), where N is the number of sensors, B is number of bodies in each sensor</span>
+<span class="sd">    and M is the number of filtered bodies.</span>
+
+<span class="sd">    Collision pairs not in contact will result in nan.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.track_contact_points` is False, then this quantity is None.</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty, then this quantity is an empty tensor.</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.max_contact_data_per_prim` is not specified or less than 1, then this quantity</span>
+<span class="sd">            will not be calculated.</span>
 <span class="sd">    &quot;&quot;&quot;</span>
 
     <span class="n">quat_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>

main/_modules/isaaclab/sensors/contact_sensor/contact_sensor_data.html

@@ -2046,6 +2046,8 @@ <h2 id="C">C</h2>
 </li>
       </ul></li>
       <li><a href="source/api/lab/isaaclab.sensors.html#isaaclab.sensors.ContactSensor.contact_physx_view">contact_physx_view (isaaclab.sensors.ContactSensor property)</a>
+</li>
+      <li><a href="source/api/lab/isaaclab.sensors.html#isaaclab.sensors.ContactSensorData.contact_pos_w">contact_pos_w (isaaclab.sensors.ContactSensorData attribute)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.controllers.html#isaaclab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task">contact_wrench_control_axes_task (isaaclab.controllers.OperationalSpaceControllerCfg attribute)</a>
 </li>
@@ -4791,6 +4793,8 @@ <h2 id="M">M</h2>
       <li><a href="source/api/lab/isaaclab.assets.html#isaaclab.assets.DeformableObject.max_collision_elements_per_body">max_collision_elements_per_body (isaaclab.assets.DeformableObject property)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.assets.html#isaaclab.assets.DeformableObject.max_collision_vertices_per_body">max_collision_vertices_per_body (isaaclab.assets.DeformableObject property)</a>
+</li>
+      <li><a href="source/api/lab/isaaclab.sensors.html#isaaclab.sensors.ContactSensorCfg.max_contact_data_count_per_prim">max_contact_data_count_per_prim (isaaclab.sensors.ContactSensorCfg attribute)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.sim.schemas.html#isaaclab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse">max_contact_impulse (isaaclab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
 </li>
@@ -4943,11 +4947,11 @@ <h2 id="M">M</h2>
       <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg">MeshRailsTerrainCfg (class in isaaclab.terrains.trimesh.mesh_terrains_cfg)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg">MeshRandomGridTerrainCfg (class in isaaclab.terrains.trimesh.mesh_terrains_cfg)</a>
-</li>
-      <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg">MeshRepeatedBoxesTerrainCfg (class in isaaclab.terrains.trimesh.mesh_terrains_cfg)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg">MeshRepeatedBoxesTerrainCfg (class in isaaclab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
       <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg">MeshRepeatedBoxesTerrainCfg.ObjectCfg (class in isaaclab.terrains.trimesh.mesh_terrains_cfg)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg">MeshRepeatedCylindersTerrainCfg (class in isaaclab.terrains.trimesh.mesh_terrains_cfg)</a>
@@ -7915,10 +7919,10 @@ <h2 id="T">T</h2>
 </li>
       <li><a href="source/api/lab/isaaclab.envs.mdp.html#isaaclab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg">TerrainBasedPose2dCommandCfg (class in isaaclab.envs.mdp.commands.commands_cfg)</a>
 </li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="source/api/lab/isaaclab.envs.mdp.html#isaaclab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges">TerrainBasedPose2dCommandCfg.Ranges (class in isaaclab.envs.mdp.commands.commands_cfg)</a>
 </li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.TerrainGenerator">TerrainGenerator (class in isaaclab.terrains)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.terrains.html#isaaclab.terrains.TerrainGeneratorCfg">TerrainGeneratorCfg (class in isaaclab.terrains)</a>
@@ -7976,6 +7980,8 @@ <h2 id="T">T</h2>
       <li><a href="source/api/lab/isaaclab.sensors.html#isaaclab.sensors.ContactSensorCfg.track_air_time">track_air_time (isaaclab.sensors.ContactSensorCfg attribute)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.envs.mdp.html#isaaclab.envs.mdp.rewards.track_ang_vel_z_exp">track_ang_vel_z_exp() (in module isaaclab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/isaaclab.sensors.html#isaaclab.sensors.ContactSensorCfg.track_contact_points">track_contact_points (isaaclab.sensors.ContactSensorCfg attribute)</a>
 </li>
       <li><a href="source/api/lab/isaaclab.envs.mdp.html#isaaclab.envs.mdp.rewards.track_lin_vel_xy_exp">track_lin_vel_xy_exp() (in module isaaclab.envs.mdp.rewards)</a>
 </li>