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lab449 / itmobotics_sim

IT's MOre than a roBOTICS SIMulator - The framework for simulating open loop kinematic robots in the best traditions of sim2real concept.
https://itmobotics-sim.readthedocs.io/en/latest/
MIT License
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New feature - contact force #2

Closed Vvlad1slavV closed 1 year ago

Vvlad1slavV commented 1 year ago

Contact strength detection functionality can be useful. In my opinion, the function should return the following values:

  1. contact states: bool
  2. contact forces: float
  3. contact direction
  4. friction coeff: float (if exist)
TexnoMann commented 1 year ago

About forces. You can get a vector of forces and torques(np.array (6,)) for desired link using:

ee_state = robot.ee_state('ee_link')
ee_link_force = ee_state.force_torques