Surface Gripper: Get current gripping force

[mindThomas]

It would be very useful if one could get the current holding/gripping force applied by a Surface Gripper (both coaxial and shear).
This would in particular be useful during the tuning of the Coaxial Force Limit and Shear Force Limit

[PeterL-NV]

Hi, I agree with you. For now to get actual force measurement during gripping, you'd need to add PhysX force sensors to the gripper's attachment joints.

[mindThomas]

@PeterL-NV Can you point me to an up-to-date documentation of the PhysX force sensor and how to add it?

[PeterL-NV]

Hi, You can refer to the Physics-Based Sensors in Isaac Sim doc.