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Fixes missing argument in calls to ContactSensor.find_bodies #341

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Apr 2, 2024
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Fixes missing argument in calls to ContactSensor.find_bodies #341

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8 changes: 4 additions & 4 deletions source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -138,17 +138,17 @@ def reset(self, env_ids: Sequence[int] | None = None):
self._data.current_contact_time[env_ids] = 0.0
self._data.last_contact_time[env_ids] = 0.0

def find_bodies(self, name_keys: str | Sequence[str]) -> tuple[list[int], list[str]]:
def find_bodies(self, name_keys: str | Sequence[str], preserve_order: bool = False) -> tuple[list[int], list[str]]:
"""Find bodies in the articulation based on the name keys.

Args:
name_keys: A regular expression or a list of regular expressions
to match the body names.
name_keys: A regular expression or a list of regular expressions to match the body names.
preserve_order: Whether to preserve the order of the name keys in the output. Defaults to False.

Returns:
A tuple of lists containing the body indices and names.
"""
return string_utils.resolve_matching_names(name_keys, self.body_names)
return string_utils.resolve_matching_names(name_keys, self.body_names, preserve_order)

def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> torch.Tensor:
"""Checks if bodies that have established contact within the last :attr:`dt` seconds.
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