Getting a contact force of a deformable object

Hi.

Is there any way to measure contact force between a rigid body and soft body / between soft bodies?

If currently not, please share a roadmap or release date of the contact force related API that supports deformable object like Flex on the IsaacGym.

thanks.

Hi there, we are hoping to have soft body support available through the tensor APIs later this year.

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thank you for your reply, kellyg.

I think these information should be located in FEM solver, but currently any API is available, isn’t it?
Then, Is there a way to get a contact force between a soft bodies without using tensor API?