[Proposal] Extend ContactSensorData by force_matrix_w_history attribute

[lukasfro]

Proposal

Similar to the net_forces_w_history attribute that keeps a history of net_forces_w, I propose to add a force_matrix_w_history attribute storing the history of force_matrix_w when using the ContactSensor with filtered bodies.

Motivation

Depending on the decimation factor, we noticed that it is critical to consider the full history of the contact sensor. This is in accordance with how the illegal_contact termination is computed for the unfiltered contact forces here. When filtering the collision bodies, this functionality does not exist currently. I'm happy to open a PR for this feature. We have been using this internally already.

Alternatives

I don't see any alternatives to this.

Additional context

None

Checklist

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Acceptance Criteria

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[RandomOakForest]

Thank you for posting this proposal. The team will review.

[RandomOakForest]

Following up on this feature request. The team would welcome a PR may you have time to submit one. Thanks.