Collision detect in Isaacym RL

HI, I met a problem. I want to detect the collision during the RL progress. I use two Franka robot. what I want to do is penlty them when these two robot arm collide with each other.

How should I do.

Thanks for your help very much!

Didn’t do much research into it but you might find this repo (GitHub - PKU-MARL/DexterousHands: This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym) useful. I find it similar to your use case.

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