There will be contact practices, but that is at the coach's discretion. It is never full contact, but most of it comes in the drill work. Both lines will square off on occasion and they do get to popping pads.
As for as the scrimmage at the dome, to clarify, it is an extension of what they do on a normal practice, not full contact by any means. And to the point of touring the locker rooms, and getting access to the field, I may be mistaken, but I was under the impression that is reserved for Season Ticket Holders only.