search

isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
Other
1.9k stars 728 forks source link

[Question] Question title How to get the joint 6-D force/torque data in isaaclab? #896

Open 3505473356 opened 2 weeks ago

3505473356 commented 2 weeks ago

Question

In Isaac Sim, we can get the joint force using Articulation.get_measured_joint_forces(), but how to get the joint 6-D force/torque data in isaaclab, there is no attribute in articulation.data

Mayankm96 commented 2 weeks ago

You can get these quantities from the PhysX view directly

https://isaac-sim.github.io/IsaacLab/source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.root_physx_view