Net contact forces zero (Not detected). Referencing from OmniIsaacGymEnvs

I’m trying to read contact forces using RigidPrimView API as referenced from file but they are always zero and are not detected. It works for the AnymalTerrain. Anything specific I’m missing for my robot (Do I need to do refresh dof_state_tensors like in AnymalTerrain to get contact force readings?)? I’ve checked settings in the yaml file and they’re the same.

Hi there, please make sure you have the argument track_contact_forces=True when creating the RigidPrimView instance.

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