Immediate Contact Information Update Post-Pose Adjustment Without Invoking scene.step()

[nature21]

After setting the pose of an actor using actor.set_pose(new_pose), the contact information, which we can get by calling scene.get_contacts(), are not updated instantly until we call scene.step(), but this might cause unpredictable motions of other actors due to collisions or other external forces. Is it possible to update contact information without calling scene.step() like we can do in PyBullet? Thank you very much.

[fbxiang]

Currently there is not a plan to support this as it requires a collision detection after setting poses. We will look into exposing this functionality with an API call in the future.