In the release notes, I notices that a feature is added:
“omni.isaac.core
Added articulationView API functions to get the commanded and computed joint efforts.”
And in the API documentation, there is an updated function called “get_applied_joint_efforts” as well as a argument named “enable_dof_force_sensors”.
I set the enable_dof_force_sensors to True, but function “get_applied_joint_efforts” output the following errors (I tested in velocity and effort mode):
2023-01-01 08:52:29 [28,468ms] [Error] [omni.physx.plugin] PhysX error: PxScene::copyArticulationData, specified data is write only., FILE /buildAgent/work/f25a4639a4b1bdc1/source/physx/src/NpScene.cpp, LINE 3830
tensor([[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]],
device=‘cuda:0’)
I also tried the function “get_applied_actions().joint_efforts”, but the output is still None as the previous discussion: ArticulationView: joint_efforts in ArticulationActions is always None.
Is this a bug or should I do something else to correctly get the torque information?