Not able to get Force value using sponge.GetForce()

[rajas1310]

Hi,
My code follows the template given for test_bathing_force.py to get the force values.
I use :

force = sponge.GetForce()
env.step()
print(force)

But the printed output shows [0.0] even when the Unity Simulation Window shows a positive "Average Force".
Due to this issue, I am not able to use the force value as a feedback for my robot. How can I solve this issue?

Thank you.

[YoruCathy]

Hi, are you on the latest commit of phy-robo-care?

[rajas1310]

Sure, I will try the above-mentioned things and let you know if any of them work. Thank you, Justin!

[rajas1310]

1. Please try running git lfs install git lfs pull if you haven't already. This caused discrepancies / failures running in the past (although I'd imagine your executable would not even run if this was the case, so this may not do anything)

rajas@tea ~/p/R/template (phy-robo-care) [1]> git lfs install

Updated Git hooks.
Git LFS initialized.

rajas@tea ~/p/R/template (phy-robo-care)> git lfs pull

<No output>

2. Try using sponge.data["forces"] to access a list of forces and see if that gives anything.
   The sponge.data dict has no key named "forces"

PS: I am on the latest commit 78452cc

[thisjustin123]

I'm currently writing a test (and fixing some force code) on #172.

The test case is now passing when it wasn't before. I'm not sure if this is because I fixed something or just fixed the test case. Either way, if the force reading works in the test cases, I'd assume it would work the same in your sim.

Feel free to try to hop on that branch and see if your code works, or wait until the PR is merged to test. 😄

[YoruCathy]

#172 is merged! Feel free to try the newest commit