Hi everyone,
We were looking into using IsaacLab as an additional way to tackle the task and run further experiments. While comparing the available observations with the Gazebo setup, we noticed that the Gazebo environment exposes a wrist wrench observation through the force-torque sensor broadcaster, but we do not immediately see an equivalent wrench observation defined in the current IsaacLab setup.
Are we missing something in the IsaacLab configuration or API? Is the intended equivalent simply to use the wrenches or contact forces that can be queried at different frames or links in IsaacLab, such as the wrist3 frame, ATI/tool frame, or other F/T-related frames? Or is there supposed to be an actual force-torque sensor in IsaacLab similar to the Gazebo setup?
Alternatively, if this is an oversight, would it be possible to add an IsaacLab equivalent of the Gazebo wrist wrench observation so that experiments in IsaacLab can more closely match the Gazebo evaluation setup?
If any other participants have had similar problems or found a solution, please let us know. It would also be helpful if one of the developers could clarify what their intent was.
Thanks!