How can I add joint friction?

Omniverse Isaac Sim
1

I want to model the friction in a reduction gear.
I find CreateJointFrictionAttr().
But I cannot call in python script.
How can I use it?

Thank you.

5

I find exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py .
I could write code with that as a reference.
Example:

import omni.usd
from pxr import PhysxSchema

stage_handle = omni.usd.get_context().get_stage()
joint_prim_path = "/World/test_robot/base_link/left_wheel_joint"

joint_api = PhysxSchema.PhysxJointAPI(stage_handle.GetPrimAtPath(joints_prim_path))
joint_api.CreateJointFrictionAttr().Set(100.0)
6

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