11 lines
391 B
Python
11 lines
391 B
Python
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from __future__ import annotations
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import torch
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from isaaclab.envs import mdp
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from isaaclab.managers import SceneEntityCfg
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def illegal_contact(env, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
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"""Terminate on illegal contacts and return the mask on the RL env device."""
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return mdp.illegal_contact(env, threshold=threshold, sensor_cfg=sensor_cfg).to(env.device)
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