[Isaac Sim 4.5] How to read torque of a joint marked "Exclude from Articulation"?

Physics Simulation PhysicsNeMo-ML Model Framework Technical Support (PhysicsNeMo Only)
1

Hi,
I’m using Isaac Sim 4.5.0 (Kit 106.5.x, PhysX 5.4.x).
One revolute joint is set to Exclude from Articulation (maximal-coordinate joint).
I need to read its real-time torque. Attempts so far:

  1. Added PhysxSchema.JointStateAPI.Apply(prim, "angular") via Python.
  2. Checked physx:jointState:angular:torque, always returns None.
  3. Articulation State node doesn’t list this joint.

What’s the recommended API or workflow to access torque for such joints?
Any limitations on solver?
Thanks!