concepts.simulator.sapien2.sapien_utils.get_contacts_with_articulation# get_contacts_with_articulation(scene, articulation, distance_threshold=0.002)[source]# Remember to call scene.step() before calling this function to update the contacts. Parameters: scene (sapien.core.Scene) articulation (sapien.core.Articulation) distance_threshold (float) Return type: List[sapien.core.Contact]