Is there any way to get body accelerations from Isaac Sim?

ShuoYangRobotics / A1-QP-MPC-Controller

An open source implementation of MIT Cheetah 3 controllers

GNU Affero General Public License v3.0

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Is there any way to get body accelerations from Isaac Sim? #15

Open diracdelta7 opened 2 years ago

diracdelta7 commented 2 years ago

I notice in IsaacA1ROS.cpp, IMU acceleration data is provided by isaac sim, but I cannot find any API in isaac gym to fetch body acceleration data, is there any other way to get the data?