The gym API states that calls to:
get_env_rigid_contacts(self: Gym, arg0: Env) → numpy.ndarray[RigidContact]
get_rigid_contacts(self: Gym, arg0: Sim) → numpy.ndarray[RigidContact]
will return an array of isaacgym.gymapi.RigidContact
instances. However the return values in release 3 are unstructured instances filled with a tuple value.
See:
code use to reproduce the results is the following
# Print rigid contacts per robot:
for env in envs:
actor_count = gym.get_actor_count(env)
for i in range(actor_count):
actor_handle = gym.get_actor_handle(env, i)
contacts = list(gym.get_env_rigid_contacts(env))