Extend `ContactSensorData` by `force_matrix_w_history` attribute #1746

lukasfro · 2025-01-28T15:53:11Z

Description

As proposed in #1720, this PR extends the ContactSensorData class with a force_matrix_w_history attribute that tracks the history of filtered contact forces.

Fixes #1720

Type of change

New feature (non-breaking change which adds functionality)

Checklist

I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

lukasfro · 2025-01-28T16:07:09Z

FYI: Neither the documentation nor the unit tests mention the history of net_forces_w_history. This is why I did not add any changes to the corresponding files regarding the new attribute force_matrix_w_history.

Please let me know if this is a hard requirement for this PR.

lukasfro · 2025-01-28T16:07:55Z

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py

-        if self.cfg.history_length > 0:
-            self._data.net_forces_w_history[env_ids] = 0.0


Removed these lines as they are redundant with the line above.

Mayankm96 · 2025-03-07T17:21:35Z

Thank you for this MR! Could you please update it to the latest main? There are a few merge conflicts

@lukasfro

) # Description This is a follow-up to #1746 by @lukasfro — thanks for the great work there! I’ve been using this feature and found it really helpful. Since the only remaining request was to resolve merge conflicts and the PR has been quiet for a bit, I went ahead and rebased it on the latest `main` to help move things forward. I branched directly off @lukasfro’s [original branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history) to preserve their authorship, and only applied the changes needed to resolve the conflicts. Of course, if @lukasfro prefers to continue the original PR, I’m more than happy to close this. Just hoping to be helpful and support getting this great addition merged. All credit for the original work goes to @lukasfro. Fixes #1720 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Mayankm96 · 2025-07-30T07:04:14Z

Closing this MR in favor of #2916

@lukasfro

…aac-sim#2916) # Description This is a follow-up to isaac-sim#1746 by @lukasfro — thanks for the great work there! I’ve been using this feature and found it really helpful. Since the only remaining request was to resolve merge conflicts and the PR has been quiet for a bit, I went ahead and rebased it on the latest `main` to help move things forward. I branched directly off @lukasfro’s [original branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history) to preserve their authorship, and only applied the changes needed to resolve the conflicts. Of course, if @lukasfro prefers to continue the original PR, I’m more than happy to close this. Just hoping to be helpful and support getting this great addition merged. All credit for the original work goes to @lukasfro. Fixes isaac-sim#1720 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>

@lukasfro

) This is a follow-up to #1746 by @lukasfro — thanks for the great work there! I’ve been using this feature and found it really helpful. Since the only remaining request was to resolve merge conflicts and the PR has been quiet for a bit, I went ahead and rebased it on the latest `main` to help move things forward. I branched directly off @lukasfro’s [original branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history) to preserve their authorship, and only applied the changes needed to resolve the conflicts. Of course, if @lukasfro prefers to continue the original PR, I’m more than happy to close this. Just hoping to be helpful and support getting this great addition merged. All credit for the original work goes to @lukasfro. Fixes #1720 - New feature (non-breaking change which adds functionality) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>

@lukasfro

…aac-sim#2916) # Description This is a follow-up to isaac-sim#1746 by @lukasfro — thanks for the great work there! I’ve been using this feature and found it really helpful. Since the only remaining request was to resolve merge conflicts and the PR has been quiet for a bit, I went ahead and rebased it on the latest `main` to help move things forward. I branched directly off @lukasfro’s [original branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history) to preserve their authorship, and only applied the changes needed to resolve the conflicts. Of course, if @lukasfro prefers to continue the original PR, I’m more than happy to close this. Just hoping to be helpful and support getting this great addition merged. All credit for the original work goes to @lukasfro. Fixes isaac-sim#1720 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>

@lukasfro

…aac-sim#2916) This is a follow-up to isaac-sim#1746 by @lukasfro — thanks for the great work there! I’ve been using this feature and found it really helpful. Since the only remaining request was to resolve merge conflicts and the PR has been quiet for a bit, I went ahead and rebased it on the latest `main` to help move things forward. I branched directly off @lukasfro’s [original branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history) to preserve their authorship, and only applied the changes needed to resolve the conflicts. Of course, if @lukasfro prefers to continue the original PR, I’m more than happy to close this. Just hoping to be helpful and support getting this great addition merged. All credit for the original work goes to @lukasfro. Fixes isaac-sim#1720 - New feature (non-breaking change which adds functionality) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>

@lukasfro

…aac-sim#2916) This is a follow-up to isaac-sim#1746 by @lukasfro — thanks for the great work there! I’ve been using this feature and found it really helpful. Since the only remaining request was to resolve merge conflicts and the PR has been quiet for a bit, I went ahead and rebased it on the latest `main` to help move things forward. I branched directly off @lukasfro’s [original branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history) to preserve their authorship, and only applied the changes needed to resolve the conflicts. Of course, if @lukasfro prefers to continue the original PR, I’m more than happy to close this. Just hoping to be helpful and support getting this great addition merged. All credit for the original work goes to @lukasfro. Fixes isaac-sim#1720 - New feature (non-breaking change which adds functionality) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>

lukasfro and others added 4 commits January 28, 2025 16:32

Add force_matrix_w_history attribute to ContactSensor

60902d0

Update docstring in contact sensor data

695e55d

Merge branch 'main' into feature/force_matrix_w_history

7e4279b

Add changes to extension/changelog/contributors

dd79bb1

lukasfro commented Jan 28, 2025

View reviewed changes

lukasfro marked this pull request as ready for review January 28, 2025 16:09

lukasfro requested review from Mayankm96, jsmith-bdai, jtigue-bdai and kellyguo11 as code owners January 28, 2025 16:09

Mayankm96 force-pushed the main branch from 9e160e0 to 82f3613 Compare March 2, 2025 14:24

ozhanozen mentioned this pull request May 6, 2025

[Question] Get historical sensor data #2430

Closed

bikcrum mentioned this pull request Jul 12, 2025

Extends ContactSensorData by force_matrix_w_history attribute #2916

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Mayankm96 closed this Jul 30, 2025

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		if self.cfg.history_length > 0:
		self._data.net_forces_w_history[env_ids] = 0.0

Extend ContactSensorData by force_matrix_w_history attribute #1746

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Extend `ContactSensorData` by `force_matrix_w_history` attribute #1746

Extend `ContactSensorData` by `force_matrix_w_history` attribute #1746

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