Developed friction force tracking for the ContactSensor in the isaac-sim/IsaacLab repository, enhancing the observability of friction interactions between sensor bodies and filtered bodies. The feature introduced a configuration toggle and a new data field to store aggregated friction forces per filtered body, utilizing a vectorized aggregation approach consistent with existing contact point reporting. Implemented entirely in Python, the work included comprehensive unit testing, documentation updates, and changelog entries. Performance evaluation indicated a modest overhead when friction tracking is enabled. This addition supports improved physics debugging and model validation in robotics applications, demonstrating depth in sensor development and Python programming.