Dot Matrix Tactile Sensors

Omniverse Isaac Sim
1

I want to simulate tactile sensor on the dexterous hands by putting lots of contact on it.
There are some problems.

  1. The method to get the current contact frame data is using a string as input which make simulation slow when using more contact sensors.
cs_sensor_reading = self._contact_sensor_interface.get_sensor_reading(self.prim_path)
  1. How can I visualize the contact sensor? Add a visual sphere on it?
  2. The return data is not as expecting.
2

for the details:
Q1: The reason why the simulation became slow is that I havn’t set the radius value, which is default -1.
Q2: The usd properties has a visualize param
Q3: The sensors’ data is still error.

I put some contact sensor on a hand like this:

2
2635×601 120 KB

  1. When the contact method is point contact;
    3
    3472×516 129 KB

    The finger sonsor and the palm sensor return the correct value
  2. But when the contact method is line or surface contact
    5
    5842×609 278 KB

    4
    What I’m hoping for is that the line of contact or the sensor on the surface will have the value
    But the fact is that only one or two sensors have a value or even all zeros.
4

Hey, thank you for reaching out. If possible, could you provide the usd files so we can reproduce this issue internally?

For the palm, are they all attached to the same mesh with different offsets from the parent?

5

And regarding your question,

  1. we are looking into more ways to speed up the contact sensor in the backend, the method you are using is correct
  2. if you don’t want to set a radius for the contact sensor (-1 means anything contacting the parent body will register a contact, anything greater than 0 will do a distance check between the contact sensor and the contact point), you can use the omnigraph node Isaac xPrim Radius Visualizer Node to draw a sphere of desired radius for each contact sensor
  3. we can look into that further, but likely it’s because the contact point is outside the contact sensor radius