Any way to get the contact position of two bodies?

[Nate711]

I want to penalize wheel slip, which as far as I know, requires knowing the wheel COM, wheel COM velocity, wheel angular velocity, and actual point of contact on the wheel. Thanks!

[RandomOakForest]

Thanks for posting this. Would a contact sensor help in this case?

[Nate711]

I don't think so because it only reports forces and not positions: https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_data.py#L14

[virgilio96upm]

Hi @Nate711 maybe this implementation ( #2026 ) of the get_contact_data function from omni.physics.impl.api to try and get the detailed contact data is useful since it gives you the actual contact points between objects. Hope this helps!

[Nate711]

Thanks for that! I'll give it a try. Have you noticed any significant performance regression with that change?

[virgilio96upm]

Hi, it was a first approach, certainly not optimized, and I have not tested it extensively. In the cube example I developed there is no significant performance regression, however as you scale the number of envs you will probably experience a drop in performance. Let me know what you find!