4.2.0
Ubuntu 20.04
I am newbie in sim2real. I wanted to understand how are the forces calculated in net_forces_w which we get from contact sensor different from forces calculated in 6AF sensor which we get from get_measured_joint_forces API?
If I use 6AF sensor on a planar surface, how do I retrieve the contact points?
Many Thanks!
Hi, I believe you can use ContactSensor.contact_physx_view.get_contact_data() to retrieve that.
Refs: https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sensors.html#isaaclab.sensors.ContactSensor.contact_physx_view
https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/extensions/runtime/source/omni.physics.tensors/docs/api/python.html
https://github.com/isaac-sim/IsaacLab/issues/364#issuecomment-2107420371
Hi,
Thanks for the prompt reply. Currently, the contact sensor API only gives me random contact points when the rigid body is in contact. However, if I want to place the contact sensor at specific points on the mesh, how do I do that?
Also, I don’t understand what’s the difference between the contact sensor forces and 6AF forces?
Many Thanks!
What is 6AF? Do you mean a six axis force sensor?
In principle, contact force is a force between two objects, whereas a six axis force sensor is the total force/torque across the sensor. So, the sensor reading will be the sum of all forces across the sensor including gravitational loading, inertial forces, drag, all contact forces (measured and unmeasured) and any other forces acting on the link.