Extend ContactSensorData by force_matrix_w_history attribute
#1746
+36
−5
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FYI: Neither the documentation nor the unit tests mention the history of Please let me know if this is a hard requirement for this PR. |
lukasfro
commented
Jan 28, 2025
Comment on lines
-145
to
-146
| if self.cfg.history_length > 0: | ||
| self._data.net_forces_w_history[env_ids] = 0.0 |
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Removed these lines as they are redundant with the line above.
lukasfro
requested review from
jtigue-bdai,
Mayankm96,
jsmith-bdai and
kellyguo11
as code owners
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Description
As proposed in #1720, this PR extends the
ContactSensorDataclass with aforce_matrix_w_historyattribute that tracks the history of filtered contact forces.Fixes #1720
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there