Getting detailed joint forces, looking for Mujoco equivalent

[antoine.pirrone]

Hello !

Is there any way of getting the Isaac gym equivalent to the following joint forces attributes of Mujoco ? :

• qfrc_bias
• qfrc_constraint
• efc_force
• qfrc_actuator

https://mujoco.readthedocs.io/en/latest/computation/index.html#general-framework

Thanks !