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add torque readings for implicit actuator #172

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add torque readings for implicit actuator #172

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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ Guidelines for modifications:
* René Zurbrügg
* Ritvik Singh
* Rosario Scalise
* Chao Ni

## Acknowledgements

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11 changes: 7 additions & 4 deletions source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py
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Expand Up @@ -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
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