[Bug Report] Contact Force readings depending on Collider Type

[choijoshua]

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Describe the bug

I was experimenting with the get_contact_force_matrix() function in RigidPrimView, and I realized that the values that the function is outputting changes based on the collider the asset has on Isaac Sim. When I define the RigidPrimView object, I set the contact_filter_prim_path_expr to be itself, like this. rigidprimview = RigidPrimView(prim_path, reset_xform_properties=False, track_contact_forces=True, contact_filter_prim_paths_expr=[prim_path], masses=mass)

Steps to reproduce

Print the get_contact_force_matrix() output of a rigidprimview object in an environment every timestep, and see how the value changes when the rigid object that the rigidprimview is referencing to has different collider types.

Checklist

• [x] I have checked that there is no similar issue in the repo (required)
• [ ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

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[Mayankm96]

This seems wrong. Why would you set the contact filter path to be the prim itself? The filtering happens against a prim w.r.t. other prims in the scene (not the same prim).

[rthaker01]

Hi @choijoshua - Are you still seeking assistance with this issue?