Collecting data from a real Franka Emika robotic arm in isaac sdk

Hello everyone,

I am working on a project where I need to collect data from sensors mounted on joints of a Franka Emika robotic arm.The sensors are torque, velocity, angle and pressure sensors. I want this data to be imported into isaac to train a neural network. I’ve read all documents about isaac sdk, but I didn’t find anything that I can use. They are mostly about synthetic data and I didn’t find anything about other sensors such as torque, angle or velocity.
Does anyone know which tool in isaac sdk I should use to gather data from a real robot?

You can use the Record and Reply components to record sensor data on robot and then replay them later into another Isaac SDK app graph with a custom codelet that receives the messages and generates training examples in a compatible format for training.