How to add a FT sensor using for peg in hole tasks?

I am preparing to simulate a peg in hole task based on FT sensors. I try to add a Articulation force sensor on the end-effect of the robot.However ,the value read from the sensor was strange.
Is there an example about how to install a Ft sensor on the robot end-effect flange and read the correctly value of contact force and torque? Thanks!

Here was one of the strange value, as the figure below, I add a force sensor on panda_hand, the cube mass was set to 0.5, however, the force z value before and after grip the cube was nearly same (about 7.9N,In theory, it should be 7.9+0.5*9.8=12.8N).


without checking out your model, I am not sure what is wrong here. However, we are introducing new articulation APIs for the upcoming Isaac sim release that would allow you to model FT sensors through fixed joints close to the end-effector.

Thanks,the Model was create from Isaac Examples->Manipulation->simple stack.
Can you provide an example, because the tutorials in Force Sensor — isaacsim latest documentation ( was too simple…
Looking forward to the release of the new version

Hi, I noticed that the articulation force sensor has been deleted in the lastest release, and for the versions before, there is very little documentation on the meaning of the force value readings. May I know how can I retrieve the net forces of a specific link (end-effector of a manipulator, or the foot tip of a quadruped robot)? I only found the articulation APIs to read joint torques… and the contact force sensor does not consider forces other than normal forces (for example, frictional forces are ignored), which is far different from the F/T sensor in real world.

I think I misunderstood the function Articulation.get_measured_joint_efforts(indices, joint_indices) here in the documentation: Core [omni.isaac.core] — isaac_sim 2023.1.1-rc.7 documentation

I thought the joints here are only revolute/linear joints such as motors. It seems that it also includes fixed joints .

Sorry for the trouble!

Yes the previous force sensors are deprecated now, but we have updated the Isaac sim documentation with more information here