Getting Contact Forces During Interactions

[ege-dgny]

I want to test my force-based MPC, how can I get force/torque values relative to the gripper(s) of the robot during interactions?

[hang-yin]

Hi @ege-dgny , not sure if you're still following this, but here's one way to do it:

finger_impulses = RigidContactAPI.get_impulses(robot_finger_prim_paths, prim_paths_to_check)

If we were to check for all impulses, we can do something like:

all_impulses = RigidContactAPI.get_all_impulses(scene_idx)