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.
To follow the video above:
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 panelUse 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)
Start the simulation by pressing
PLAY
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.