How to get the force and torque acted on a link in isaaclab?

Omniverse Isaac Sim
1

I need to simulate the peg in hole task and require the force torque data. I checked here that I can use get_measured_joint_forces() to get the data in IsaacSim python script. But I don’t know how to access the API get_measured_joint_forces() in isaaclab’s python scripts.

Isaac Sim Version

4.2.0

Isaac Lab Version (if applicable)

0.25.2

Operating System

Ubuntu 22.04

GPU Information

  • Model: Nvidia
  • Driver Version: 535.183.01
3

Isaac Lab is built on Isaac Sim, and you can import extensions similarly. You may find these tutorials useful. To post questions and discussions on Isaac Lab, please use the Isaac Lab repository.

4

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.