[Question] Exerting force on robot by mouse click and drag (Interactive GUI)

[hojae-io]

Hi,

I'm wondering if there's functionality on GUI where you can choose link (such as body link) and exert force by dragging through mouse click. I want to interactively see how robust my controller is from external perturbation.

I know that this works in IsaacSim but I couldn't really do this interactive force (or position) perturbation in IsaacLab.

I would appreciate if I can get some direction for this functionality

Thank you!

[RandomOakForest]

Thank you for posting this. You can set enable_scene_query_support = True to allow the interactive mode to achieve that, in the SimulationCfg call. Here is an example that uses this class.

[lei3li]

Hey, have you succeeded in exerting force this way? I set the enable_scene_query_support = True but I still can't exert force using mouse click is IsaacLab during playing a policy.