Get forces from soft bodies deformations

Hi, I am working with soft bodies in IsaacGym and I want to extract the forces applied to the nodal coordinates of my tetrahedral mesh. I have seen in the example script that you do this by exploiting the mesh triangles (using gym.get_sim_triangles(sim)). Considering that soft bodies simulation works by using a tetrahedral mesh, what are these triangles and how are they related to the tetrahedrons from the original mesh?

I know that each triangle is associated with a tetrahedral, but I do not understand the relation and I cannot find any documentation clarifying this. Could you provide information on how to get the vertices of such triangles?

Considering that we can get a force per triangle. How can we know where this force is applied?