Add body_incoming_joint_wrench_b to ArticulationData field #2128
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jtigue-bdai
requested review from
jsmith-bdai,
kellyguo11 and
Mayankm96
as code owners
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Small question: Should this be a sensor if we want to model it as force-torque sensor with some frequency? |
| def body_joint_reaction_wrench_b(self) -> torch.Tensor: | ||
| """Joint reaction wrench applied from body parent to child body in parent body frame. | ||
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| Shape is (num_instances, num_bodies, 6). All body reaction wrenches are provided including the root body to the |
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Maybe useful to link to this documentation
Also the wording seems slightly confusing. The forces are in CoM frame or link frame? We have been using "_b" for link frame so if it not the latter, we should use something else I feel.
NIT: body joint reaction wrench seems a strange name to call it? Might be simpler to call it body_reaction_wrench or body_incoming_wrench 🤔
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Yeah documentation link is good. The output is the force/torque at a joint in the bodies link frame orientation (need to double check if it's the parent or child body).
Yeah I don't really like it either. I went back and forth on the naming. There are as many wrenches as bodies but they are the result of wrenches imparted at joints. I'm down for other names.
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what about body_incoming_joint_wrench_b that way it stays a bit more in convention with the physx documentation?
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| # check shape | ||
| self.assertEqual( | ||
| articulation.data.body_joint_reaction_wrench_b.shape, |
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Might make sense to test shape for an asset with more than one joint?
I think there is room to do a separate "sensor" that has the added abilities like offset frames, sensor updates, visualizations, sub selection of axes, and the like. Especially if a users is only interested in a single frame. I figured this would be the most easiest way to get all data available quickly since it was already part of the physics tensor API. |
Co-authored-by: Mayank Mittal <[email protected]> Signed-off-by: James Tigue <[email protected]>
jtigue-bdai
changed the title
Description
This PR exposes the physics tensor view of the joint reaction wrenches.
Fixes #2127
1566
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there