Effort Sensor#

  • The effort sensor in Omniverse Isaac Sim tracks the torque or force applied to individual joints. Torque is measured for revolute joints and magnitude of force is measured for linear joints.

See the Isaac Sim Conventions documentation for a complete list of Omniverse Isaac Sim conventions.

../../_images/isaac_sim_add_effort_sensor.gif

To follow the video above:

  1. Open /Isaac/Robots/Simple/simple_articulation.usd and set Target Position of /Articulation/Arm/RevoluteJoint to 350 to make the link rotate by left click, and modify Target Position in the property panel

  2. Use the snippet below to create the effort sensor

from omni.isaac.sensor.scripts.effort_sensor import EffortSensor
import numpy as np

sensor = EffortSensor(
prim_path="/Articulation/Arm/RevoluteJoint",
sensor_period=0.1,
use_latest_data=False,
enabled=True)

  1. Start the simulation by pressing PLAY

  2. Use the snippet below to print sensor reading

reading = sensor.get_sensor_reading(use_latest_data = True)
print(f"time: {reading.time} value:{reading.value} \n")

Note

For more information on effort sensor usage, checkout Using Sensors: Effort Sensor.