simulo.ForceTorqueSensor

Force-torque sensor for measuring forces and torques at joints or links.

Measures 6-DOF force/torque at a specific location, commonly used at end-effectors or wrist joints.

Example:

import simulo

ft_sensor = simulo.ForceTorqueSensor(
    offset=simulo.SensorOffset(pos=(0, 0, 0)),
)
scene.add(ft_sensor, at="/World/Robot/wrist_link/ft_sensor")

# Read data
force = ft_sensor.read_force()   # (num_envs, 3) in N
torque = ft_sensor.read_torque() # (num_envs, 3) in N·m

simulo.ForceTorqueSensor(
    path: Optional[str] = None,
    offset: Optional[SensorOffset] = None,
    update_period: float = 0.0,
    enabled: bool = True,
    debug_vis: bool = False,
)

read_force()

ForceTorqueSensor.read_force() -> torch.Tensor

Get force vector in sensor frame.

Returns:

Force tensor of shape (num_envs, 3). Values are float32 in Newtons.

Raises:

• RuntimeError — If sensor not initialized

read_torque()

ForceTorqueSensor.read_torque() -> torch.Tensor

Get torque vector in sensor frame.

Returns:

Torque tensor of shape (num_envs, 3). Values are float32 in Newton-meters.

Raises:

• RuntimeError — If sensor not initialized

read_wrench()

ForceTorqueSensor.read_wrench() -> torch.Tensor

Get combined force-torque wrench.

Returns:

Wrench tensor of shape (num_envs, 6). First 3 values are force, last 3 are torque.

Raises:

• RuntimeError — If sensor not initialized