Force sensor for peg in hole

Hi, @ltorabi I’m looking for 6d force sensor in Isaac Sim for peg-in-hole simulation, just like that in mujoco or bullet.
Thanks for reading.


I’ve tried articulation force sensor , the Xform is set as articulation force sensor

However when the tool tip hits the table, the force torque sensor reading is alwasys zero

I’m wondering what’s the problem.