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Fix contact sensor visualization #170

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Merged
matafela merged 1 commit into from
Mar 10, 2026
Merged

Fix contact sensor visualization #170

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8 changes: 6 additions & 2 deletions embodichain/lab/sim/sensors/contact_sensor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -361,8 +361,12 @@ def set_contact_point_visibility(
point_size: float = 3.0,
):
if visible:
contact_position_arena = self._data_buffer["position"]
contact_offsets = self._sim.arena_offsets[self._data_buffer["env_ids"]]
contact_position_arena = self._data_buffer["position"][
: self._curr_contact_num
]
contact_offsets = self._sim.arena_offsets[
self._data_buffer["env_ids"][: self._curr_contact_num]
]
Comment on lines +364 to +369
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Copilot AI Mar 10, 2026

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The PR checklist states "I have added tests that prove my fix is effective," but no test for set_contact_point_visibility was added in the test suite (e.g., tests/sim/sensors/test_contact.py). The existing test_fetch_contact only exercises get_data() and filter_by_user_ids(). A test calling contact_sensor.set_contact_point_visibility(visible=True) after update() should be added to verify the crash is fixed and does not regress.

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contact_position_world = contact_position_arena + contact_offsets
if self._visualizer is None:
# create new visualizer
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