Add contact labels showing which geom pairs are in contact.

PiperOrigin-RevId: 510422404 Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
2023-02-17 07:02:37 -08:00
parent a6730aa740
commit 2607e67f8d
10 changed files with 31 additions and 6 deletions
@@ -20,6 +20,15 @@ Python bindings
  sizes that change between time steps depending on the number of active constraints, breaking strict correspondence
  between joints and `efc_` rows.

+.. image:: images/changelog/contactlabel.png
+   :align: right
+   :width: 400px
+
+Simulate
+^^^^^^^^
+
+- Added optional labels to contact visualization, indicating which two geoms are contacting (names if defined, ids
+  otherwise). This can be useful in cluttered scenes.

 Version 2.3.2 (February 7, 2023)
 --------------------------------
@@ -1565,6 +1565,7 @@ typedef enum mjtLabel_ {          // object labeling
  mjLABEL_SKIN,                   // skin labels
  mjLABEL_SELECTION,              // selected object
  mjLABEL_SELPNT,                 // coordinates of selection point
+  mjLABEL_CONTACTPOINT,           // contact information
  mjLABEL_CONTACTFORCE,           // magnitude of contact force

  mjNLABEL                        // number of label types