ContactSensorInterface

Fully qualified name: isaacsim::sensors::physics::ContactSensorInterface

class ContactSensorInterface

Interface for contact sensor functionality.

Provides methods for accessing contact sensor data and raw physics engine data related to contact events between rigid bodies.

Public Members

CsRawData *(*getSensorRawData)(const char *primPath, size_t &numContacts)

Gets contact raw data from physics engine.

Gets Contact raw data, for validation purposes and ground truth

Param primPath:

path of the sensor prim

Param numContacts:

size of contacts

Return:

Raw Data

CsReading (*getSensorReading)(const char *primPath, const bool &getLatestValue)

Gets Sensor latest simulation.

Check is the prim path contact sensor

Param primPath:

path of the sensor prim

Param getLatestValue:

boolean flag for getting the latest sim value or the last sensor measured value

Return:

time-stamped sensor values

bool (*isContactSensor)(const char *primPath)

Checks if a prim is a contact sensor.

Param primPath:

[in] Path of the prim to check.

Return:

True if the prim is a contact sensor, false otherwise.

const char *(*decodeBodyName)(uint64_t body)

Decodes a rigid body identifier into a human-readable name.

Param body:

[in] Unique identifier of the rigid body.

Return:

Human-readable name of the rigid body.

CsRawData *(*getBodyRawData)(const char *primPath, size_t &numContacts)

Gets contact raw data of a rigid body with contact report API from physics engine.

Gets Contact raw data, for validation purposes and ground truth

Param primPath:

path of the rigid body prim

Param numContacts:

size of contacts

Return:

Raw Data