[Question] Self Collision with robot

[Dafodilrat]

I want to differentiate between a contact sensors collision with the ground and with the robot itself. Is there any way to do this with the current contact sensor application. If not is there a way to figure out if a robot (articulation object) has collided with itself.

[garylvov]

These may be relevant:

#2540

#1428

[RandomOakForest]

Thank you for posting this. The current Isaac Lab contact sensor system primarily detects contact forces between the sensor's body and other filtered bodies, but it cannot directly specify if a contact is due to self-collision (robot against itself) versus collision with the environment (e.g., ground) using a single default sensor configuration. I'll move this post to our Discussions section for the team and others to follow up.