Does URDF-link-contact_coefficient work for contact with IsaacGym ground?

Hi. I’m trying to use IsaacGym to train my bipedal robot on deformable terrain.
Since I can’t edit the contact dynamics, I want the feet link to be compliant.
I found that in URDF file, there is a tag called contact_coefficient, with which I can define how the links behave when they are in contact with one another (by setting stiffness and damping coeffs)
https://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model

What I want to know is,
do these coefficient come into play when the links are in contact with the ground of IsaacGym?
If not, is there any other way I can simulate deformable terrain or soft contact with the ground?

Start using Isaac Sim instead of gym, you have access to such features like contact dynamics there.