Is there any variable/method for detecting collision in Isaac Gym?

[zjwzcx]

Hi, thanks for your awesome work!

I create a dynamic robot and some static obstacles (asset) in my custom Isaac Gym env. How can I get the collision signal when that dynamic robot collides with certain obstacle?

(I tried to use keywords like "collision" and "occupancy" in the doc to retrieve the variable or method I wanted, but failed.)

Look forward to your reply!

[TextZip]

Have you looked at get_env_rigid_contacts ?

[AndrePatri]

Hi, is there an equivalent method to get_env_rigid_contacts which conforms to Gym's tensor API? Running get_env_rigid_contacts while using GPU, as expected, returns an error.
Thanks in advance