What feature or enhancement are you proposing?
When using decimation > 1 (i.e. multiple physics steps per control step), ContactForceSensor currently returns only the instantaneous force from the final physics step of each control interval. Transient contacts that occur during earlier physics steps within the same control interval are silently dropped. A history_length parameter that accumulates per-physics-step force snapshots across a control interval — analogous to mjlab's ContactSensorCfg.history_length — would make it possible to reliably detect these transient events.
Motivation
In RL with decimation > 1, I want to access per-physics-step contact force history, because transient self-collisions that occur mid-interval are silently dropped by the current instantaneous readout.
Potential Benefit
Reliable reward function implementation for RL
What is the expected outcome of the implementation work?
A history_length parameter on ContactForceSensor that returns accumulated contact forces for each physics step within a control interval, with shape (num_envs, num_links, history_length, 3).
Additional information
No response
What feature or enhancement are you proposing?
When using
decimation > 1(i.e. multiple physics steps per control step),ContactForceSensorcurrently returns only the instantaneous force from the final physics step of each control interval. Transient contacts that occur during earlier physics steps within the same control interval are silently dropped. Ahistory_lengthparameter that accumulates per-physics-step force snapshots across a control interval — analogous to mjlab'sContactSensorCfg.history_length— would make it possible to reliably detect these transient events.Motivation
In RL with
decimation > 1, I want to access per-physics-step contact force history, because transient self-collisions that occur mid-interval are silently dropped by the current instantaneous readout.Potential Benefit
Reliable reward function implementation for RL
What is the expected outcome of the implementation work?
A
history_lengthparameter onContactForceSensorthat returns accumulated contact forces for each physics step within a control interval, with shape(num_envs, num_links, history_length, 3).Additional information
No response