What does Articulation.root_physx_view.get_link_incoming_joint_force() return?

[larsrpe]

I stumbled into this method: https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/extensions/runtime/source/omni.physics.tensors/docs/api/python.html#omni.physics.tensors.impl.api.ArticulationView.get_link_incoming_joint_force

and wondered what it returns.

My first guess i that it is the actual force and torque felt at each joint, including extrernal forces( joint torques and contacts etc) and the joint constraint force.

I am not sure if this is correct. Anyone has an idea?

Thanks!

[RandomOakForest]

Thanks for posting this. Here is the detail of the included forces.

[larsrpe]

Thanks a lot!