add torque readings for implicit actuator

isaac-sim · Dec 14, 2023 · ccd5c5f · ccd5c5f
1 parent ffd9a16
commit ccd5c5f
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -41,6 +41,7 @@ Guidelines for modifications:
 * René Zurbrügg
 * Ritvik Singh
 * Rosario Scalise
+* Chao Ni
 
 ## Acknowledgements
 

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py
@@ -679,10 +679,13 @@ def _apply_actuator_model(self):
                 self._joint_effort_target_sim[:, actuator.joint_indices] = control_action.joint_efforts
             # update state of the actuator model
             if isinstance(actuator, ImplicitActuator):
-                # TODO read torque from simulation (#127)
-                pass
-                # self._data.computed_torques[:, actuator.joint_indices] = ???
-                # self._data.applied_torques[:, actuator.joint_indices] = ???
+                # read torque from simulation
+                self._data.computed_torque[:, actuator.joint_indices] = self._root_view.get_measured_joint_efforts(
+                    joint_indices=actuator.joint_indices
+                )
+                self._data.applied_torque[:, actuator.joint_indices] = self._root_view.get_applied_joint_efforts(
+                    joint_indices=actuator.joint_indices
+                )
             else:
                 # -- torques
                 self._data.computed_torque[:, actuator.joint_indices] = actuator.computed_effort