I have a simulation of a block falling onto a large “table” block and coming to rest. When using the PhysX backend, despite having set the friction coefficients of both blocks, the resulting friction forces returned by gym.get_env_rigid_contacts are 0 and the effective friction term seems to be 0, despite both blocks having non-zero friction coefficients. The simulation appears to incorporate friction however, as the block with some initial velocity comes to rest. Is there a way to accurately recover friction forces for rigid body contacts?
Code snippet here.