Isaac Read Effort Node

Node that reads out joint effort values

Installation

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

Inputs

Name	Type	Descripton	Default
Enabled (inputs:enabled)	bool	True to enable sensor, False to disable the sensor	True
Exec In (inputs:execIn)	execution	The input execution port	None
Prim Path (inputs:prim)	target	Path to the joint getting measured	None
Sensor Period (inputs:sensorPeriod)	float	Downtime between sensor readings	0
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
Sensor Time (outputs:sensorTime)	float	Timestamp of the sensor reading	0
Effort Value (outputs:value)	float	Effort value reading	0.0

Metadata

Name	Value
Unique ID	omni.isaac.sensor.IsaacReadEffortSensor
Version	1
Extension	omni.isaac.sensor
Icon	ogn/icons/omni.isaac.sensor.IsaacReadEffortSensor.svg
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Read Effort Node
Categories	isaacSensor
Generated Class Name	OgnIsaacReadEffortSensorDatabase
Python Module	omni.isaac.sensor