I am using the IsaacGym to build a robot manipulation environment.
I was wondering that is it possible to get the contact buffer, i.e.
isaacgym.gymapi.RigidContact using the Tensor API, like what can be done in the standard API
get_env_rigid_contacts. Current the
acquire_net_contact_force_tensor can only provide net force.
If the tensor-based pipeline does not support reading full contact information, is there any alternatives to know whether two actors are in contact with each other?
Appreciate your help. Thank you!