[Question] How to get the detail collision information during simulation

[Zyl-000]

Question

Hi,
I am working on a dexterous hand project。 When I enable self_collision=True in the simulation, the robot hand's fingers display abnormal movements. I aim to debug this by obtaining detailed collision information—specifically, which components of the robot hand are colliding with each other.
Could you please advise on how to access this collision data? Thank you!

[RandomOakForest]

Thank you for posting this. You may want to add contact sensors to the fingers. You can find a tutorial on how to do this here. I'll move this post to our Discussions for the team to follow up may you need further help.