[Newton] contact behavior tests and contact sensor tests #4483
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… at least). There are still some errors some will be patched by latest newton.
…h more or less success.
…lean-up session with a Newton Eng to sanity check this.
…position as this is now handled properly by newton. Still a couple of weird cases left.
…sensor and test_collision_behaviors
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Description
This PR builds ontop of articulation_upgrade #4406, and added critical tests for collision behavior and contact sensor behavior. Many tests are failing which provide good independent and isolated metric for newton team to looks into.
This PR still requires clean up and its current stage is more meant for collaboration than to merge