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[Question] applied_torque vs root_physx_view.get_measured_joint_efforts #1558

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Jdowdy05 opened this issue Dec 17, 2024 · 0 comments
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@Jdowdy05
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applied_torque vs get_measured_joint_efforts vs get_measured_joint_forces

Hello, I am checking my understanding of the following three functions and what they are returning.

"Applied_torque" is the calculated torque from the actuator that does not account for any external wrenches on the actuator.

"get_measured_joint_efforts" is the external torque applied to the joints from the environment. It is essentially the "get_measured_joint_forces" wrench converted to joint space for the articulation. Im also assuming that the "get_measured_joint_efforts" is just the reaction torque and not a sum of applied_torque

I have read the documentation for both Isaac lab and Isaac sim a few times, but I am still a bit confused about "get_measured_joint_efforts," as it doesn't explicitly say you receive the reaction forces in torque like "get_measured_joint_forces" does.

Another question along the same line (though I think I know the answer): The observation function "body_incoming_wrench" has a function call inside called "get_link_incoming_joint_force". Does this give a future reaction force by some +sim.dt ahead?

Thank you in advance for the help!

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