Is your feature request related to a problem? Please describe.
There is a way to query contact impulse, using gpu_query_contact_pair_impulses. However this does not include the friction. I believe Physx supports this because IsaacSim does support querying the friction: https://github.com/isaac-sim/IsaacSim/blob/aa503a9bbf92405bbbcfe5361e1c4a74fe10d689/source/extensions/isaacsim.core.api/python/impl/sensors/rigid_contact_view.py#L473C9-L473C26
Describe the solution you'd like
Implement get_friction_data
Describe alternatives you've considered
There are 2 alternatives, one is calculating total force using dynamics (F = ma, etc.) and subtract the normal force. This is not ideal. The second way is using link_incoming_joint_forces, but this requires using an Articulation which is complicated. There is currently no other way to do that for a single Actor.
Additional context
N/A
Is your feature request related to a problem? Please describe.
There is a way to query contact impulse, using gpu_query_contact_pair_impulses. However this does not include the friction. I believe Physx supports this because IsaacSim does support querying the friction: https://github.com/isaac-sim/IsaacSim/blob/aa503a9bbf92405bbbcfe5361e1c4a74fe10d689/source/extensions/isaacsim.core.api/python/impl/sensors/rigid_contact_view.py#L473C9-L473C26
Describe the solution you'd like
Implement
get_friction_dataDescribe alternatives you've considered
There are 2 alternatives, one is calculating total force using dynamics (F = ma, etc.) and subtract the normal force. This is not ideal. The second way is using
link_incoming_joint_forces, but this requires using an Articulation which is complicated. There is currently no other way to do that for a single Actor.Additional context
N/A