Hey!
Where i am:
I am building a RL algorithm in Isaac Lab and I want to simulate a 6-axis F/T sensor. Currently, I am trying to do that by measuring the forces on the sensor to gripper fixed joint but I am having a hard time finding which function gives me that.
I wanted to use get_measured_joint_forces (as shown here: Articulation Joint Sensors — Omniverse IsaacSim) but I could not find a find a similar function in the omni.isaac.lab.assets.Articulation api (omni.isaac.lab.assets — Isaac Lab Documentation).
I tried to extract it using Phsyx:
self._robot.root_physx_view.get_dof_projected_joint_forces()
or
self._robot.root_physx_view.get_link_incoming_joint_force()
but I am not positive that I actually get the forces that the joint experience or matching the indices correctly (as it seems that .root_physx_view.link_paths takes different links compared .body_namesbody)
My questions:
I there a “right” way to try and simulate an F/T sensor in Isaac Lab env? Is there an equivalent to get_measured_joint_forces in the Isaac Lab articulation API version? Is there any other way to measure the forces that develop in a joint because of the environment?