Contact collection
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braunjon commented
Is it a mistake that the parameter contact_collection is set to 2: CC_ALL_SUBSTEPS ? As it says in the comment: (broken - do not use!)
https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/dee7c56765e14f6f4344c4d2e91d7a9eb3bfa619/isaacgymenvs/cfg/task/HumanoidAMP.yaml#L63