diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index 7874783cea5..c3a9f9765fc 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -35,6 +35,7 @@ Guidelines for modifications:
 * Pascal Roth
 * Sheikh Dawood
 * Ossama Ahmed
+* Greg Attra
 
 ## Contributors
 
diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
index 007872f1b52..836a168702b 100644
--- a/source/isaaclab/config/extension.toml
+++ b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.47.7"
+version = "0.47.8"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index bbb5f216c81..92b55c747f4 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.47.8 (2025-10-20)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :attr:`~isaaclab.sensors.contact_sensor.ContactSensorCfg.track_friction_forces` to toggle tracking of friction forces between sensor bodies and filtered bodies.
+* Added :attr:`~isaaclab.sensors.contact_sensor.ContactSensorData.friction_forces_w` data field for tracking friction forces.
+
+
 0.47.7 (2025-10-31)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor.py b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor.py
index aed50d390f8..676d6272ff2 100644
--- a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor.py
+++ b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor.py
@@ -162,8 +162,9 @@ def reset(self, env_ids: Sequence[int] | None = None):
         # reset contact positions
         if self.cfg.track_contact_points:
             self._data.contact_pos_w[env_ids, :] = torch.nan
-            # buffer used during contact position aggregation
-            self._contact_position_aggregate_buffer[env_ids, :] = torch.nan
+        # reset friction forces
+        if self.cfg.track_friction_forces:
+            self._data.friction_forces_w[env_ids, :] = 0.0
 
     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.
@@ -310,6 +311,21 @@ def _initialize_impl(self):
         if self.cfg.track_pose:
             self._data.pos_w = torch.zeros(self._num_envs, self._num_bodies, 3, device=self._device)
             self._data.quat_w = torch.zeros(self._num_envs, self._num_bodies, 4, device=self._device)
+
+        # check if filter paths are valid
+        if self.cfg.track_contact_points or self.cfg.track_friction_forces:
+            if len(self.cfg.filter_prim_paths_expr) == 0:
+                raise ValueError(
+                    "The 'filter_prim_paths_expr' is empty. Please specify a valid filter pattern to track"
+                    f" {'contact points' if self.cfg.track_contact_points else 'friction forces'}."
+                )
+            if self.cfg.max_contact_data_count_per_prim < 1:
+                raise ValueError(
+                    f"The 'max_contact_data_count_per_prim' is {self.cfg.max_contact_data_count_per_prim}. "
+                    "Please set it to a value greater than 0 to track"
+                    f" {'contact points' if self.cfg.track_contact_points else 'friction forces'}."
+                )
+
         # -- position of contact points
         if self.cfg.track_contact_points:
             self._data.contact_pos_w = torch.full(
@@ -317,10 +333,11 @@ def _initialize_impl(self):
                 torch.nan,
                 device=self._device,
             )
-            # buffer used during contact position aggregation
-            self._contact_position_aggregate_buffer = torch.full(
-                (self._num_bodies * self._num_envs, self.contact_physx_view.filter_count, 3),
-                torch.nan,
+        # -- friction forces at contact points
+        if self.cfg.track_friction_forces:
+            self._data.friction_forces_w = torch.full(
+                (self._num_envs, self._num_bodies, self.contact_physx_view.filter_count, 3),
+                0.0,
                 device=self._device,
             )
         # -- air/contact time between contacts
@@ -382,28 +399,17 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
             _, buffer_contact_points, _, _, buffer_count, buffer_start_indices = (
                 self.contact_physx_view.get_contact_data(dt=self._sim_physics_dt)
             )
-            # unpack the contact points: see RigidContactView.get_contact_data() documentation for details:
-            # https://docs.omniverse.nvidia.com/kit/docs/omni_physics/107.3/extensions/runtime/source/omni.physics.tensors/docs/api/python.html#omni.physics.tensors.impl.api.RigidContactView.get_net_contact_forces
-            # buffer_count: (N_envs * N_bodies, N_filters), buffer_contact_points: (N_envs * N_bodies, 3)
-            counts, starts = buffer_count.view(-1), buffer_start_indices.view(-1)
-            n_rows, total = counts.numel(), int(counts.sum())
-            # default to NaN rows
-            agg = torch.full((n_rows, 3), float("nan"), device=self._device, dtype=buffer_contact_points.dtype)
-            if total > 0:
-                row_ids = torch.repeat_interleave(torch.arange(n_rows, device=self._device), counts)
-                total = row_ids.numel()
-
-                block_starts = counts.cumsum(0) - counts
-                deltas = torch.arange(total, device=counts.device) - block_starts.repeat_interleave(counts)
-                flat_idx = starts[row_ids] + deltas
-
-                pts = buffer_contact_points.index_select(0, flat_idx)
-                agg = agg.zero_().index_add_(0, row_ids, pts) / counts.clamp_min(1).unsqueeze(1)
-                agg[counts == 0] = float("nan")
-
-            self._contact_position_aggregate_buffer[:] = agg.view(self._num_envs * self.num_bodies, -1, 3)
-            self._data.contact_pos_w[env_ids] = self._contact_position_aggregate_buffer.view(
-                self._num_envs, self._num_bodies, self.contact_physx_view.filter_count, 3
+            self._data.contact_pos_w[env_ids] = self._unpack_contact_buffer_data(
+                buffer_contact_points, buffer_count, buffer_start_indices
+            )[env_ids]
+
+        # obtain friction forces
+        if self.cfg.track_friction_forces:
+            friction_forces, _, buffer_count, buffer_start_indices = self.contact_physx_view.get_friction_data(
+                dt=self._sim_physics_dt
+            )
+            self._data.friction_forces_w[env_ids] = self._unpack_contact_buffer_data(
+                friction_forces, buffer_count, buffer_start_indices, avg=False, default=0.0
             )[env_ids]
 
         # obtain the air time
@@ -436,6 +442,58 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
                 is_contact, self._data.current_contact_time[env_ids] + elapsed_time.unsqueeze(-1), 0.0
             )
 
+    def _unpack_contact_buffer_data(
+        self,
+        contact_data: torch.Tensor,
+        buffer_count: torch.Tensor,
+        buffer_start_indices: torch.Tensor,
+        avg: bool = True,
+        default: float = float("nan"),
+    ) -> torch.Tensor:
+        """
+        Unpacks and aggregates contact data for each (env, body, filter) group.
+
+        This function vectorizes the following nested loop:
+
+        for i in range(self._num_bodies * self._num_envs):
+            for j in range(self.contact_physx_view.filter_count):
+                start_index_ij = buffer_start_indices[i, j]
+                count_ij = buffer_count[i, j]
+                self._contact_position_aggregate_buffer[i, j, :] = torch.mean(
+                    contact_data[start_index_ij : (start_index_ij + count_ij), :], dim=0
+                )
+
+        For more details, see the `RigidContactView.get_contact_data() documentation <https://docs.omniverse.nvidia.com/kit/docs/omni_physics/107.3/extensions/runtime/source/omni.physics.tensors/docs/api/python.html#omni.physics.tensors.impl.api.RigidContactView.get_contact_data>`_.
+
+        Args:
+            contact_data: Flat tensor of contact data, shape (N_envs * N_bodies, 3).
+            buffer_count: Number of contact points per (env, body, filter), shape (N_envs * N_bodies, N_filters).
+            buffer_start_indices: Start indices for each (env, body, filter), shape (N_envs * N_bodies, N_filters).
+            avg: If True, average the contact data for each group; if False, sum the data. Defaults to True.
+            default: Default value to use for groups with zero contacts. Defaults to NaN.
+
+        Returns:
+            Aggregated contact data, shape (N_envs, N_bodies, N_filters, 3).
+        """
+        counts, starts = buffer_count.view(-1), buffer_start_indices.view(-1)
+        n_rows, total = counts.numel(), int(counts.sum())
+        agg = torch.full((n_rows, 3), default, device=self._device, dtype=contact_data.dtype)
+        if total > 0:
+            row_ids = torch.repeat_interleave(torch.arange(n_rows, device=self._device), counts)
+
+            block_starts = counts.cumsum(0) - counts
+            deltas = torch.arange(row_ids.numel(), device=counts.device) - block_starts.repeat_interleave(counts)
+            flat_idx = starts[row_ids] + deltas
+
+            pts = contact_data.index_select(0, flat_idx)
+            agg = agg.zero_().index_add_(0, row_ids, pts)
+            agg = agg / counts.clamp_min(1).unsqueeze(-1) if avg else agg
+            agg[counts == 0] = default
+
+        return agg.view(self._num_envs * self.num_bodies, -1, 3).view(
+            self._num_envs, self._num_bodies, self.contact_physx_view.filter_count, 3
+        )
+
     def _set_debug_vis_impl(self, debug_vis: bool):
         # set visibility of markers
         # note: parent only deals with callbacks. not their visibility
diff --git a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py
index c51b09473bb..e230b9fd2be 100644
--- a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py
@@ -23,6 +23,9 @@ class ContactSensorCfg(SensorBaseCfg):
     track_contact_points: bool = False
     """Whether to track the contact point locations. Defaults to False."""
 
+    track_friction_forces: bool = False
+    """Whether to track the friction forces at the contact points. Defaults to False."""
+
     max_contact_data_count_per_prim: int = 4
     """The maximum number of contacts across all batches of the sensor to keep track of. Default is 4.
 
diff --git a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_data.py b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_data.py
index 5d08f6058ce..4598af202c5 100644
--- a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_data.py
+++ b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_data.py
@@ -35,10 +35,27 @@ class ContactSensorData:
     Note:
 
         * If the :attr:`ContactSensorCfg.track_contact_points` is False, then this quantity is None.
-        * If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty, then this quantity is an empty tensor.
-        * If the :attr:`ContactSensorCfg.max_contact_data_per_prim` is not specified or less than 1, then this quantity
-          will not be calculated.
+        * If the :attr:`ContactSensorCfg.track_contact_points` is True, a ValueError will be raised if:
+            * If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty.
+            * If the :attr:`ContactSensorCfg.max_contact_data_per_prim` is not specified or less than 1.
+        will not be calculated.
+    """
+
+    friction_forces_w: torch.Tensor | None = None
+    """Sum of the friction forces between sensor body and filter prim in world frame.
+
+    Shape is (N, B, M, 3), where N is the number of sensors, B is number of bodies in each sensor
+    and M is the number of filtered bodies.
+
+    Collision pairs not in contact will result in 0.0.
+
+    Note:
 
+        * If the :attr:`ContactSensorCfg.track_friction_forces` is False, then this quantity is None.
+        * If the :attr:`ContactSensorCfg.track_friction_forces` is True, a ValueError will be raised if:
+            * If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty.
+            * If the :attr:`ContactSensorCfg.max_contact_data_per_prim` is not specified or less than 1.
+        will not be calculated.
     """
 
     quat_w: torch.Tensor | None = None
diff --git a/source/isaaclab/test/sensors/check_contact_sensor.py b/source/isaaclab/test/sensors/check_contact_sensor.py
index 30d2c9be437..431ab2f47f6 100644
--- a/source/isaaclab/test/sensors/check_contact_sensor.py
+++ b/source/isaaclab/test/sensors/check_contact_sensor.py
@@ -106,6 +106,7 @@ def main():
         prim_path="/World/envs/env_.*/Robot/.*_FOOT",
         track_air_time=True,
         track_contact_points=True,
+        track_friction_forces=True,
         debug_vis=False,  # not args_cli.headless,
         filter_prim_paths_expr=["/World/defaultGroundPlane/GroundPlane/CollisionPlane"],
     )
diff --git a/source/isaaclab/test/sensors/test_contact_sensor.py b/source/isaaclab/test/sensors/test_contact_sensor.py
index 4512b29f3b2..1d6ee57a673 100644
--- a/source/isaaclab/test/sensors/test_contact_sensor.py
+++ b/source/isaaclab/test/sensors/test_contact_sensor.py
@@ -26,7 +26,7 @@
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ContactSensor, ContactSensorCfg
-from isaaclab.sim import SimulationContext, build_simulation_context
+from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context
 from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg
 from isaaclab.utils import configclass
 
@@ -395,6 +395,137 @@ def test_sensor_print(setup_simulation):
         print(scene.sensors["contact_sensor"])
 
 
+# minor gravity force in -z to ensure object stays on ground plane
+@pytest.mark.parametrize("grav_dir", [(-10.0, 0.0, -0.1), (0.0, -10.0, -0.1)])
+@pytest.mark.isaacsim_ci
+def test_friction_reporting(setup_simulation, grav_dir):
+    """
+    Test friction force reporting for contact sensors.
+
+    This test places a contact sensor enabled cube onto a ground plane under different gravity directions.
+    It then compares the normalized friction force dir with the direction of gravity to ensure they are aligned.
+    """
+    sim_dt, _, _, _, carb_settings_iface = setup_simulation
+    carb_settings_iface.set_bool("/physics/disableContactProcessing", True)
+    device = "cuda:0"
+    sim_cfg = SimulationCfg(dt=sim_dt, device=device, gravity=grav_dir)
+    with build_simulation_context(sim_cfg=sim_cfg, add_lighting=False) as sim:
+        sim._app_control_on_stop_handle = None
+
+        scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
+        scene_cfg.terrain = FLAT_TERRAIN_CFG
+        scene_cfg.shape = CUBE_CFG
+
+        filter_prim_paths_expr = [scene_cfg.terrain.prim_path + "/terrain/GroundPlane/CollisionPlane"]
+
+        scene_cfg.contact_sensor = ContactSensorCfg(
+            prim_path=scene_cfg.shape.prim_path,
+            track_pose=True,
+            debug_vis=False,
+            update_period=0.0,
+            track_air_time=True,
+            history_length=3,
+            track_friction_forces=True,
+            filter_prim_paths_expr=filter_prim_paths_expr,
+        )
+
+        scene = InteractiveScene(scene_cfg)
+
+        sim.reset()
+
+        scene["contact_sensor"].reset()
+        scene["shape"].write_root_pose_to_sim(
+            root_pose=torch.tensor([0, 0.0, CUBE_CFG.spawn.size[2] / 2.0, 1, 0, 0, 0])
+        )
+
+        # step sim once to compute friction forces
+        _perform_sim_step(sim, scene, sim_dt)
+
+        # check that forces are being reported match expected friction forces
+        expected_friction, _, _, _ = scene["contact_sensor"].contact_physx_view.get_friction_data(dt=sim_dt)
+        reported_friction = scene["contact_sensor"].data.friction_forces_w[0, 0, :]
+
+        torch.testing.assert_close(expected_friction.sum(dim=0), reported_friction[0], atol=1e-6, rtol=1e-5)
+
+        # check that friction force direction opposes gravity direction
+        grav = torch.tensor(grav_dir, device=device)
+        norm_reported_friction = reported_friction / reported_friction.norm()
+        norm_gravity = grav / grav.norm()
+        dot = torch.dot(norm_reported_friction[0], norm_gravity)
+
+        torch.testing.assert_close(torch.abs(dot), torch.tensor(1.0, device=device), atol=1e-4, rtol=1e-3)
+
+
+@pytest.mark.isaacsim_ci
+def test_invalid_prim_paths_config(setup_simulation):
+    sim_dt, _, _, _, carb_settings_iface = setup_simulation
+    carb_settings_iface.set_bool("/physics/disableContactProcessing", True)
+    device = "cuda:0"
+    sim_cfg = SimulationCfg(dt=sim_dt, device=device)
+    with build_simulation_context(sim_cfg=sim_cfg, add_lighting=False) as sim:
+        sim._app_control_on_stop_handle = None
+
+        scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
+        scene_cfg.terrain = FLAT_TERRAIN_CFG
+        scene_cfg.shape = CUBE_CFG
+
+        scene_cfg.contact_sensor = ContactSensorCfg(
+            prim_path=scene_cfg.shape.prim_path,
+            track_pose=True,
+            debug_vis=False,
+            update_period=0.0,
+            track_air_time=True,
+            history_length=3,
+            track_friction_forces=True,
+            filter_prim_paths_expr=[],
+        )
+
+        try:
+            _ = InteractiveScene(scene_cfg)
+
+            sim.reset()
+
+            assert False, "Expected ValueError due to invalid contact sensor configuration."
+        except ValueError:
+            pass
+
+
+@pytest.mark.isaacsim_ci
+def test_invalid_max_contact_points_config(setup_simulation):
+    sim_dt, _, _, _, carb_settings_iface = setup_simulation
+    carb_settings_iface.set_bool("/physics/disableContactProcessing", True)
+    device = "cuda:0"
+    sim_cfg = SimulationCfg(dt=sim_dt, device=device)
+    with build_simulation_context(sim_cfg=sim_cfg, add_lighting=False) as sim:
+        sim._app_control_on_stop_handle = None
+
+        scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
+        scene_cfg.terrain = FLAT_TERRAIN_CFG
+        scene_cfg.shape = CUBE_CFG
+        filter_prim_paths_expr = [scene_cfg.terrain.prim_path + "/terrain/GroundPlane/CollisionPlane"]
+
+        scene_cfg.contact_sensor = ContactSensorCfg(
+            prim_path=scene_cfg.shape.prim_path,
+            track_pose=True,
+            debug_vis=False,
+            update_period=0.0,
+            track_air_time=True,
+            history_length=3,
+            track_friction_forces=True,
+            filter_prim_paths_expr=filter_prim_paths_expr,
+            max_contact_data_count_per_prim=0,
+        )
+
+        try:
+            _ = InteractiveScene(scene_cfg)
+
+            sim.reset()
+
+            assert False, "Expected ValueError due to invalid contact sensor configuration."
+        except ValueError:
+            pass
+
+
 """
 Internal helpers.
 """
@@ -416,20 +547,20 @@ def _run_contact_sensor_test(
     """
     for device in devices:
         for terrain in terrains:
-            for track_contact_points in [True, False]:
+            for track_contact_data in [True, False]:
                 with build_simulation_context(device=device, dt=sim_dt, add_lighting=True) as sim:
                     sim._app_control_on_stop_handle = None
 
                     scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
                     scene_cfg.terrain = terrain
                     scene_cfg.shape = shape_cfg
-                    test_contact_position = False
+                    test_contact_data = False
                     if (type(shape_cfg.spawn) is sim_utils.SphereCfg) and (terrain.terrain_type == "plane"):
-                        test_contact_position = True
-                    elif track_contact_points:
+                        test_contact_data = True
+                    elif track_contact_data:
                         continue
 
-                    if track_contact_points:
+                    if track_contact_data:
                         if terrain.terrain_type == "plane":
                             filter_prim_paths_expr = [terrain.prim_path + "/terrain/GroundPlane/CollisionPlane"]
                         elif terrain.terrain_type == "generator":
@@ -444,7 +575,8 @@ def _run_contact_sensor_test(
                         update_period=0.0,
                         track_air_time=True,
                         history_length=3,
-                        track_contact_points=track_contact_points,
+                        track_contact_points=track_contact_data,
+                        track_friction_forces=track_contact_data,
                         filter_prim_paths_expr=filter_prim_paths_expr,
                     )
                     scene = InteractiveScene(scene_cfg)
@@ -461,7 +593,7 @@ def _run_contact_sensor_test(
                         scene=scene,
                         sim_dt=sim_dt,
                         durations=durations,
-                        test_contact_position=test_contact_position,
+                        test_contact_data=test_contact_data,
                     )
                     _test_sensor_contact(
                         shape=scene["shape"],
@@ -471,7 +603,7 @@ def _run_contact_sensor_test(
                         scene=scene,
                         sim_dt=sim_dt,
                         durations=durations,
-                        test_contact_position=test_contact_position,
+                        test_contact_data=test_contact_data,
                     )
 
 
@@ -483,7 +615,7 @@ def _test_sensor_contact(
     scene: InteractiveScene,
     sim_dt: float,
     durations: list[float],
-    test_contact_position: bool = False,
+    test_contact_data: bool = False,
 ):
     """Test for the contact sensor.
 
@@ -550,8 +682,11 @@ def _test_sensor_contact(
                 expected_last_air_time=expected_last_test_contact_time,
                 dt=duration + sim_dt,
             )
-        if test_contact_position:
+
+        if test_contact_data:
             _test_contact_position(shape, sensor, mode)
+            _test_friction_forces(shape, sensor, mode)
+
         # switch the contact mode for 1 dt step before the next contact test begins.
         shape.write_root_pose_to_sim(root_pose=reset_pose)
         # perform simulation step
@@ -562,6 +697,34 @@ def _test_sensor_contact(
         expected_last_reset_contact_time = 2 * sim_dt
 
 
+def _test_friction_forces(shape: RigidObject, sensor: ContactSensor, mode: ContactTestMode) -> None:
+    if not sensor.cfg.track_friction_forces:
+        assert sensor._data.friction_forces_w is None
+        return
+
+    # check shape of the contact_pos_w tensor
+    num_bodies = sensor.num_bodies
+    assert sensor._data.friction_forces_w.shape == (sensor.num_instances // num_bodies, num_bodies, 1, 3)
+    # compare friction forces
+    if mode == ContactTestMode.IN_CONTACT:
+        assert torch.any(torch.abs(sensor._data.friction_forces_w) > 1e-5).item()
+        friction_forces, _, buffer_count, buffer_start_indices = sensor.contact_physx_view.get_friction_data(
+            dt=sensor._sim_physics_dt
+        )
+        for i in range(sensor.num_instances * num_bodies):
+            for j in range(sensor.contact_physx_view.filter_count):
+                start_index_ij = buffer_start_indices[i, j]
+                count_ij = buffer_count[i, j]
+                force = torch.sum(friction_forces[start_index_ij : (start_index_ij + count_ij), :], dim=0)
+                # assert torch.allclose(force, sensor._data.friction_forces_w[i, j, :], atol=1e-5)
+                env_idx = i // num_bodies
+                body_idx = i % num_bodies
+                assert torch.allclose(force, sensor._data.friction_forces_w[env_idx, body_idx, j, :], atol=1e-5)
+
+    elif mode == ContactTestMode.NON_CONTACT:
+        assert torch.all(sensor._data.friction_forces_w == 0.0).item()
+
+
 def _test_contact_position(shape: RigidObject, sensor: ContactSensor, mode: ContactTestMode) -> None:
     """Test for the contact positions (only implemented for sphere and flat terrain)
     checks that the contact position is radius distance away from the root of the object
@@ -570,22 +733,23 @@ def _test_contact_position(shape: RigidObject, sensor: ContactSensor, mode: Cont
         sensor: The sensor reporting data to be verified by the contact sensor test.
         mode: The contact test mode: either contact with ground plane or air time.
     """
-    if sensor.cfg.track_contact_points:
-        # check shape of the contact_pos_w tensor
-        num_bodies = sensor.num_bodies
-        assert sensor._data.contact_pos_w.shape == (sensor.num_instances / num_bodies, num_bodies, 1, 3)
-        # check contact positions
-        if mode == ContactTestMode.IN_CONTACT:
-            contact_position = sensor._data.pos_w + torch.tensor(
-                [[0.0, 0.0, -shape.cfg.spawn.radius]], device=sensor._data.pos_w.device
-            )
-            assert torch.all(
-                torch.abs(torch.norm(sensor._data.contact_pos_w - contact_position.unsqueeze(1), p=2, dim=-1)) < 1e-2
-            ).item()
-        elif mode == ContactTestMode.NON_CONTACT:
-            assert torch.all(torch.isnan(sensor._data.contact_pos_w)).item()
-    else:
+    if not sensor.cfg.track_contact_points:
         assert sensor._data.contact_pos_w is None
+        return
+
+    # check shape of the contact_pos_w tensor
+    num_bodies = sensor.num_bodies
+    assert sensor._data.contact_pos_w.shape == (sensor.num_instances // num_bodies, num_bodies, 1, 3)
+    # check contact positions
+    if mode == ContactTestMode.IN_CONTACT:
+        contact_position = sensor._data.pos_w + torch.tensor(
+            [[0.0, 0.0, -shape.cfg.spawn.radius]], device=sensor._data.pos_w.device
+        )
+        assert torch.all(
+            torch.abs(torch.norm(sensor._data.contact_pos_w - contact_position.unsqueeze(1), p=2, dim=-1)) < 1e-2
+        ).item()
+    elif mode == ContactTestMode.NON_CONTACT:
+        assert torch.all(torch.isnan(sensor._data.contact_pos_w)).item()
 
 
 def _check_prim_contact_state_times(