code: def contact_forces(self):
      raw_contact_forces = self.sim.data.cfrc_ext
      min_value, max_value = self._contact_force_range
      contact_forces = np.clip(raw_contact_forces, min_value, max_value)
      return contact_forces
  
file_path: gym/gym/envs/mujoco/ant_v3.py
imports: import numpy
  from gym import utils
  from gym.envs.mujoco import MuJocoPyEnv
  from gym.spaces import Box
label_desc: Use image node_id 4 for calling the AntEnv obj's underlying member method code with example usage: obj.contact_forces() and returns: contact_forces