concepts.simulator.sapien2.sapien_utils.get_contacts_by_id

get_contacts_by_id(scene, object1_id, object2_id=None, distance_threshold=0.002)

Remember to call scene.step() before calling this function to update the contacts.

Parameters:

• scene (sapien.core.Scene)

• object1_id (int)

• object2_id (int | None)

• distance_threshold (float)

Return type:

List[sapien.core.Contact]