Isaac Read Contact Sensor Node#
Node that reads out contact sensor data
Installation#
To use this node enable isaacsim.sensors.physics in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Contact Sensor Prim (inputs:csPrim) |
|
USD prim reference to contact sensor prim |
None |
Exec In (inputs:execIn) |
|
The input execution port |
None |
Use Latest Data (inputs:useLatestData) |
|
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) |
|
Output execution triggers when sensor has data |
None |
In Contact (outputs:inContact) |
|
Bool that registers current sensor contact |
False |
Sensor Time (outputs:sensorTime) |
|
Sensor reading timestamp |
0.0 |
Force Value (outputs:value) |
|
Contact force value reading (N) |
0.0 |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.sensors.physics.IsaacReadContactSensor |
Version |
1 |
Extension |
isaacsim.sensors.physics |
Icon |
ogn/icons/isaacsim.sensors.physics.IsaacReadContactSensor.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Isaac Read Contact Sensor Node |
Categories |
isaacPhysicsSensor |
Generated Class Name |
OgnIsaacReadContactSensorDatabase |
Python Module |
isaacsim.sensors.physics |