Error trying to retrieve implicit PD applied joint efforts

Omniverse Isaac Sim
1

hi everyone,
I’m currently having some issues trying to get the applied torques to the joints of a roboy I’m working on using isaacgym.
To control the joints I’m using the implicit PD controllers and the set_joint_position_target and set_joint_velocity_target methods. I would like to know the values of the actual applied efforts but it seems to not be possible, since the get_measured_joint_efforts does not work and returns the error 'RobotView object has no attribute ‘get_measured_joint_efforts’
Does someone know how to solve?

2

Hi @ludovico.chialastri - Have you reviewed following document?
https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_physics_articulation_force.html?highlight=joint%20efforts#articulation-joint-sensors