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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question] How to get dof_force? #1402

Closed BRoln7 closed 1 week ago

BRoln7 commented 2 weeks ago

Question

How to get dof_force in IsaacLab, corresponding to gym.acquire_dof_force_tensor() in isaac gym

RandomOakForest commented 2 weeks ago

This would be Articulation.root_physx_view.get_link_incoming_joint_force()

RandomOakForest commented 1 week ago

We hope the code above has worked for you. We will close this issue for now, but reopen if you need further help. Thanks.