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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!
The text was updated successfully, but these errors were encountered:
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!
The text was updated successfully, but these errors were encountered: