Contact force measurement

[IntrovertInDisguise]

Description

I need to print out the contact forces and the direction of the same during each contact using the contact sensor(akin to what is available on IsaacSim).

Context

I am trying to verify my contact model with differentiable physics contact models

### Tasks

[eric-heiden]

Hi @IntrovertInDisguise,

You could modify the eval_rigid_contacts kernel which accumulates the contact wrenches (linear and angular forces) for each rigid body given the contact point information (which includes the contact normal in world space). In your case you could compute the contact wrench for each contact point individually and store it to another Warp array that contains the contact sensor forces, optionally only the contacts you are interested in (e.g. based on the indices of the two colliding shapes, contact_shape0 and contact_shape1) could be filtered.