Isaac Read Contact Sensor Node

Node that reads out contact sensor data

Installation

To use this node enable omni.isaac.sensor in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Contact Sensor Prim (inputs:csPrim)

target

USD prim reference to contact sensor prim

None

Exec In (inputs:execIn)

execution

The input execution port

None

Use Latest Data (inputs:useLatestData)

bool

True to use the latest data from the physics step, False to use the data measured by the sensor

False

Outputs

Name

Type

Descripton

Default

Exec Out (outputs:execOut)

execution

Output execution triggers when sensor has data

None

In Contact (outputs:inContact)

bool

Bool that registers current sensor contact

False

Sensor Time (outputs:sensorTime)

float

Sensor reading timestamp

0.0

Force Value (outputs:value)

float

Contact force value reading (N)

0.0

Metadata

Name

Value

Unique ID

omni.isaac.sensor.IsaacReadContactSensor

Version

1

Extension

omni.isaac.sensor

Icon

ogn/icons/omni.isaac.sensor.IsaacReadContactSensor.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Isaac Read Contact Sensor Node

Categories

isaacSensor

Generated Class Name

OgnIsaacReadContactSensorDatabase

Python Module

omni.isaac.sensor