How to get Joint Sensor

[boocoly]

Hi everyone! I've got a teensy-weensy problem with getting the joint torque sensor. I'm not mentioning applied_torque. But here's the thing: torque_wanted = applied_torque + external_torque. Is this possible in IsaacLab? 🤔 If anyone can help me out, I will be truly, deeply grateful! 😊🙏

[boocoly]

asset._root_physx_view.get_dof_projected_joint_forces() What is this? Is this what I want?

[dxyy1]

I am not too sure about any standalone joint torque sensor class, but I think the class omni.isaac.lab.assets.articulation deals with joints; to get joint torques, you can access the data container omni.isaac.lab.assets.articulation.articulation_data class

Not sure if this is what you are looking for though.