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!