add contact fetching #23

matafela · 2025-12-01T09:35:49Z

Description

Support contact fetching for rigid object and articulation link.

Rigid object contact fetching, see example: scripts/tutorials/sim/fetch_contact.pyscripts/tutorials/sim/fetch_contact.py
Articulation link contact fetching, see example: ``

TODO:

Rigid object contact fetching
Articulation link contact fetching

Type of change

New feature (non-breaking change which adds functionality)

Checklist

I have run the black . command to format the code base.
I have made corresponding changes to the documentation
I have added tests that prove my fix is effective or that my feature works
Dependencies have been updated, if applicable.

Copilot

Pull request overview

This PR adds contact fetching functionality for rigid objects and articulation links in the simulation. The implementation provides a filtering mechanism to retrieve contact information from physics simulations, including contact positions, normals, friction forces, impulses, and distances. The PR includes a new ContactReport data structure, configuration classes for filtering contacts, and methods in SimulationManager to fetch and filter contact data.

Adds ContactReport dataclass and ContactFilterCfg configuration for managing contact queries
Implements get_contact() method in SimulationManager with GPU and CPU support
Provides an example script demonstrating rigid object contact fetching

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 19 comments.

Show a summary per file

File	Description
scripts/tutorials/sim/fetch_contact.py	New tutorial script demonstrating contact fetching for rigid objects
embodichain/lab/sim/contact.py	New `ContactReport` dataclass to store and filter contact data
embodichain/lab/sim/cfg.py	Adds `ContactFilterCfg` and `ArticulationContactFilterCfg` configuration classes
embodichain/lab/sim/sim_manager.py	Implements `get_contact()` method and internal contact buffer management
embodichain/lab/sim/objects/rigid_object.py	Adds `all_env_ids` property for accessing environment indices
embodichain/lab/sim/objects/articulation.py	Adds `all_env_ids` property and updates `get_user_ids()` signature to support link-specific queries
embodichain/lab/sim/objects/gizmo.py	Updates import from `dexsim.render` to `dexsim.engine` for `GizmoController`

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Copilot · 2025-12-01T09:41:32Z

scripts/tutorials/sim/fetch_contact.py

+This script demonstrates how to create a simulation scene using SimulationManager.
+It shows the basic setup of simulation context, adding objects, and sensors.


The docstring is incorrect. This script demonstrates contact fetching, not general scene setup with sensors. Update to accurately describe the script's purpose.

Suggested change

This script demonstrates how to create a simulation scene using SimulationManager.

It shows the basic setup of simulation context, adding objects, and sensors.

This script demonstrates how to fetch and process contact information between rigid objects

in a simulation using SimulationManager. It shows how to set up the simulation, add objects,

and retrieve contact reports for analysis.

Copilot · 2025-12-01T09:41:32Z

scripts/tutorials/sim/fetch_contact.py

+                contact_positions = contact_report.contact_data[:, 0:3]
+                contact_normals = contact_report.contact_data[:, 3:6]
+                contact_frictions = contact_report.contact_data[:, 6:9]
+                contact_impluses = contact_report.contact_data[:, 9]


Corrected spelling of 'impluses' to 'impulses'.

Suggested change

contact_impluses = contact_report.contact_data[:, 9]

contact_impulses = contact_report.contact_data[:, 9]

Copilot · 2025-12-01T09:41:32Z

embodichain/lab/sim/cfg.py

+            for link_name in link_names:
+                if link_name not in all_link_names:
+                    logger.log_warning(
+                        f"Link {link_name} not found in articulation {articulation_cfg.uid}."


Incorrect attribute access. Should use articulation_cfg.articulation_uid instead of articulation_cfg.uid, as the field is named articulation_uid in ArticulationContactFilterCfg (line 1141).

Suggested change

f"Link {link_name} not found in articulation {articulation_cfg.uid}."

f"Link {link_name} not found in articulation {articulation_cfg.articulation_uid}."

Copilot · 2025-12-01T09:41:33Z

embodichain/lab/sim/cfg.py

+            all_link_names = articulation.link_names()
+            link_names = (
+                all_link_names
+                if articulation_cfg.link_name_list is None


The condition checks if link_name_list is None, but the default is an empty list [] (line 1144). This check will never be true. Change condition to if not articulation_cfg.link_name_list or update the default to None.

Suggested change

if articulation_cfg.link_name_list is None

if not articulation_cfg.link_name_list

Copilot · 2025-12-01T09:41:33Z

embodichain/lab/sim/cfg.py

+                    (self.item_env_ids, articulation.all_env_ids)
+                )
+
+        # build user_id to env_id map


Potential runtime error if item_user_ids is empty. Add a check before computing max() to handle the case when no items are found, e.g., if self.item_user_ids.numel() == 0: return.

Suggested change

# build user_id to env_id map

# build user_id to env_id map

if self.item_user_ids.numel() == 0:

return

Copilot · 2025-12-01T09:41:37Z

scripts/tutorials/sim/fetch_contact.py

+                contact_user_ids = (
+                    contact_report.contact_user_ids
+                )  # user can use userid to identify which object the contact belongs to, using rigid_object.get_user_id()


Variable contact_user_ids is not used.

Suggested change

contact_user_ids = (

contact_report.contact_user_ids

) # user can use userid to identify which object the contact belongs to, using rigid_object.get_user_id()

Copilot · 2025-12-01T09:41:37Z

scripts/tutorials/sim/fetch_contact.py

+                contact_env_ids = (
+                    contact_report.contact_env_ids
+                )  # contact belongs to which environment


Variable contact_env_ids is not used.

Suggested change

contact_env_ids = (

contact_report.contact_env_ids

) # contact belongs to which environment

Copilot · 2025-12-01T09:41:37Z

scripts/tutorials/sim/fetch_contact.py

+                cube1 = sim.get_rigid_object("cube1")
+                filtered_contact_report = contact_report.filter_by_user_ids(
+                    cube1.get_user_ids()
+                )


Variable filtered_contact_report is not used.

Suggested change

)

)

# Example usage: print number of filtered contacts for cube1

n_filtered = filtered_contact_report.contact_data.shape[0]

print(f"[INFO]: Filtered contacts for cube1: {n_filtered}")

if n_filtered > 0:

print(f"[INFO]: Filtered contact positions for cube1: {filtered_contact_report.contact_data[:, 0:3]}")

Copilot · 2025-12-01T09:41:38Z

scripts/tutorials/sim/fetch_contact.py

+
+import argparse
+import time
+import torch


Import of 'torch' is not used.

Suggested change

import torch

Copilot · 2025-12-01T09:41:38Z

embodichain/lab/sim/objects/gizmo.py

    PhysicalAttr,
 )
-from dexsim.render import GizmoController
+from dexsim.engine import GizmoController


Import of 'GizmoController' is not used.

Suggested change

from dexsim.engine import GizmoController

chenjian added 8 commits November 28, 2025 17:47

draft

e68ecca

Merge branch 'main' into cj/add-contact-fetching

aa6d879

update contact

f3e3d2e

update

3ccbb2a

update

6127231

Merge branch 'main' into cj/add-contact-fetching

263855d

update

d091e70

update

136d106

matafela requested review from Copilot and yuecideng December 1, 2025 09:35

Copilot started reviewing on behalf of matafela December 1, 2025 09:36 View session

Copilot finished reviewing on behalf of matafela December 1, 2025 09:37

Copilot AI reviewed Dec 1, 2025

View reviewed changes

chenjian added 9 commits December 2, 2025 10:06

update

e255b3f

Merge branch 'main' into cj/add-contact-fetching

f5ab8ea

update

af54eec

update

4967036

update

a079730

fix link contact fetching

b737711

Merge branch 'main' into cj/add-contact-fetching

bfe4d6c

add contact report visualization

1d89e30

revert

c75c7c4

matafela changed the title ~~Draft: add contact fetching~~ add contact fetching Dec 4, 2025

yuecideng added physics Things related to physics sensor Virtual sensor for computing observation from simulation labels Dec 21, 2025

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add contact fetching #23

add contact fetching #23

matafela commented Dec 1, 2025 •

edited

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		This script demonstrates how to create a simulation scene using SimulationManager.
		It shows the basic setup of simulation context, adding objects, and sensors.

-This script demonstrates how to create a simulation scene using SimulationManager.
-It shows the basic setup of simulation context, adding objects, and sensors.
+This script demonstrates how to fetch and process contact information between rigid objects
+in a simulation using SimulationManager. It shows how to set up the simulation, add objects,
+and retrieve contact reports for analysis.

	contact_impluses = contact_report.contact_data[:, 9]
	contact_impulses = contact_report.contact_data[:, 9]

	f"Link {link_name} not found in articulation {articulation_cfg.uid}."
	f"Link {link_name} not found in articulation {articulation_cfg.articulation_uid}."

	if articulation_cfg.link_name_list is None
	if not articulation_cfg.link_name_list

	contact_user_ids = (
	contact_report.contact_user_ids
	) # user can use userid to identify which object the contact belongs to, using rigid_object.get_user_id()

	contact_env_ids = (
	contact_report.contact_env_ids
	) # contact belongs to which environment

-                )
+                )
+                # Example usage: print number of filtered contacts for cube1
+                n_filtered = filtered_contact_report.contact_data.shape[0]
+                print(f"[INFO]: Filtered contacts for cube1: {n_filtered}")
+                if n_filtered > 0:
+                    print(f"[INFO]: Filtered contact positions for cube1: {filtered_contact_report.contact_data[:, 0:3]}")

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matafela commented Dec 1, 2025 •

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