What is the correct way to view contact pairs at time step? (MJX pipeline)

[i1Cps]

What is the correct way to view contact pairs at time step? (MJX pipeline)

data.contact.geom

Seems to return all possible contact pairs rather then contact pairs at the timestep of "data". Should I be checking the force of each pair and verifying that its not equal to zero?

data.ncon

also returns a number similar to the maximum number of possible contact pairs (some pairs are repeated) rather than collisions detected.

I would have intuitively tried:

x_geom_collision_detected = jp.isin(x_geom_id_to_check, data.contact.geom.flatten())

But since every possible contact pair is flattened it always returns True.

[btaba]

Hi @i1Cps , I recommend checking the contact.dist. If it's greater than zero, the contact is not "on". This is what get_data_into is doing, as an example.