How to add contact sensor attached to prim?

@rgasoto I’ve tried

result, sensor = omni.kit.commands.execute( "IsaacSensorCreateContactSensor", path="/sensor", parent=prim_path, min_threshold=0, max_threshold=10000000, radius=radius, sensor_period=-1, offset=Gf.Vec3d(offset[0], offset[1], offset[2]), visualize=True, )

but IsaacSim crashed, the log shows

2022-08-03 13:47:47 [46,369ms] [Error] [carb.crashreporter-breakpad.plugin] crash detected           
2022-08-03 13:47:47 [46,369ms] [Warning] [carb.crashreporter-breakpad.plugin] A crash has occurred.  
If a debugger should be attached, please set the '/crashreporter/debuggerAttachTimeoutMs' setting to 
a timeout in milliseconds.  This can be used to allow the crash reporter to wait for up to that long 
for a debugger to attach before processing or sending the crash report.                              
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin] Uploading minidump: fil
e:'/root/.local/share/ov/data/Kit/Isaac-Sim/2022.1/dbb6114a-4228-48a9-81d5759b-33bc4275.dmp' svr:'htt
ps://services.nvidia.com/submit'                                                                     
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin] Crash metadata for uplo
ad:                                                                                                  
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   DumpId = 'dbb6114a-42
28-48a9-81d5759b-33bc4275'                                                                           
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   ProductName = 'Omnive
rseKit'                                                                                              
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   StartupTime = '165953
4420'                                                                                                
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   UptimeSeconds = '47' 
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   Version = '103.1+rele
ase.12610.6e2a27c0.tc'                                                                               
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   appName = 'Isaac-Sim'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   appState = 'started' 
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   appVersion = '2022.1.
0'                                                                                                   
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   autoloadExts = ''    
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildBranch = 'releas
e'                                                                                                   
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildCi = 'tc'       
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildCiNumber = '1039
9879'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildHash = '6e2a27c0
'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMajor = '103'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMinor = '1'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMr = '0'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildNumber = '12610'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildPatch = '0'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildVersion = '103.1
.0'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   environmentName = 'de
fault'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   experience = 'Isaac S
im'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   kitRendererDriverVers
ion = '470.129'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommand = 'IsaacS
ensorCreatePrim(path=/sensor,parent=/World/Flexiv_0/panda_leftfinger,schema_type=?,position=?,visuali
ze=True)'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommands = 'Group
,CreatePrimCommand(prim_path=/OmniverseKit_Front,prim_type=Camera,select_new_prim=False,context_name=
),Group,CreatePrimCommand(prim_path=/OmniverseKit_Top,prim_type=Camera,select_new_prim=False,context_
name=),Group,CreatePrimCommand(prim_path=/OmniverseKit_Right,prim_type=Camera,select_new_prim=False,c
ontext_name=),IsaacSensorCreateContactSensor(path=/sensor,parent=/World/Flexiv_0/panda_rightfinger,mi
n_threshold=0,max_threshold=10000000,radius=0.1,sensor_period=-1,offset=?,visualize=True),IsaacSensor
CreatePrim(path=/sensor,parent=/World/Flexiv_0/panda_rightfinger,schema_type=?,position=?,visualize=T
rue),IsaacSensorCreateContactSensor(path=/sensor,parent=/World/Flexiv_0/panda_leftfinger,min_threshol
d=0,max_threshold=10000000,radius=0.1,sensor_period=-1,offset=?,visualize=True),IsaacSensorCreatePrim
(path=/sensor,parent=/World/Flexiv_0/panda_leftfinger,schema_type=?,position=?,visualize=True)'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   memoryStats = '(avail
/total) RAM: 50.4817/62.8118GB, Swap: 0.443474/0.957027GB, VM: 1.71799e+10/1.71799e+10GB'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   portableMode = '0'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   stageUrl = ''
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   systemInfo = '
|---------------------------------------------------------------------------------------------|
| Driver Version: 470.129.6     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | Quadro RTX 8000                  | Yes: 0 |     | 49398   MB | 10de      | 0          |
|     |                                  |        |     |            | 1e30      | 6a3bd068.. |
|=============================================================================================|
| OS: Linux isaac, Version: 5.4.0-107-generic
| Processor: Intel(R) Xeon(R) Gold 6226R CPU @ 2.90GHz | Cores: Unknown | Logical: 12
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64319 | Free Memory: 56313
| Total Page/Swap (MB): 979 | Free Page/Swap: 979
|---------------------------------------------------------------------------------------------|
'
2022-08-03 13:47:47 [46,370ms] [Warning] [carb.crashreporter-breakpad.plugin]   telemetrySessionId = 
'0'
2022-08-03 13:47:47 [46,372ms] [Error] [carb.crashreporter-breakpad.plugin] failed to upload minidump
: file: '/root/.local/share/ov/data/Kit/Isaac-Sim/2022.1/dbb6114a-4228-48a9-81d5759b-33bc4275.dmp', c
ode: 0, error: 'libcurl.so: cannot open shared object file: No such file or directory', response:
2022-08-03 13:47:47 [46,372ms] [Error] [carb.crashreporter-breakpad.plugin]      {status = InitFailed
 (2)}
2022-08-03 13:47:47 [46,372ms] [Error] [carb.crashreporter-breakpad.plugin] Wrote dump file '/root/.l
ocal/share/ov/data/Kit/Isaac-Sim/2022.1/dbb6114a-4228-48a9-81d5759b-33bc4275.dmp'
2022-08-03 13:47:47 [46,372ms] [Error] [carb.crashreporter-breakpad.plugin]     dump file size is 274
8368 bytes, file is readable.
2022-08-03 13:47:47 [46,373ms] [Fatal] [carb.crashreporter-breakpad.plugin] Crash detected in pid 318
8 thread 3188
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin] Crash metadata:        
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   DumpId = 'dbb6114a-42
28-48a9-81d5759b-33bc4275'                                                                           
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   ProductName = 'Omnive
rseKit'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   StartupTime = '165953
4420'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   UptimeSeconds = '47'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   Version = '103.1+rele
ase.12610.6e2a27c0.tc'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   appName = 'Isaac-Sim'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   appState = 'started'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   appVersion = '2022.1.
0'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   autoloadExts = ''
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildBranch = 'releas
e'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildCi = 'tc'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildCiNumber = '1039
9879'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildHash = '6e2a27c0
'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMajor = '103'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMinor = '1'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMr = '0'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildNumber = '12610'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildPatch = '0'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildVersion = '103.1
.0'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   environmentName = 'de
fault'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   experience = 'Isaac S
im'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   kitRendererDriverVers
ion = '470.129'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommand = 'IsaacS
ensorCreatePrim(path=/sensor,parent=/World/Flexiv_0/panda_leftfinger,schema_type=?,position=?,visuali
ze=True)'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommands = 'Group
,CreatePrimCommand(prim_path=/OmniverseKit_Front,prim_type=Camera,select_new_prim=False,context_name=
),Group,CreatePrimCommand(prim_path=/OmniverseKit_Top,prim_type=Camera,select_new_prim=False,context_
name=),Group,CreatePrimCommand(prim_path=/OmniverseKit_Right,prim_type=Camera,select_new_prim=False,c
ontext_name=),IsaacSensorCreateContactSensor(path=/sensor,parent=/World/Flexiv_0/panda_rightfinger,mi
n_threshold=0,max_threshold=10000000,radius=0.1,sensor_period=-1,offset=?,visualize=True),IsaacSensor
CreatePrim(path=/sensor,parent=/World/Flexiv_0/panda_rightfinger,schema_type=?,position=?,visualize=T
rue),IsaacSensorCreateContactSensor(path=/sensor,parent=/World/Flexiv_0/panda_leftfinger,min_threshol
d=0,max_threshold=10000000,radius=0.1,sensor_period=-1,offset=?,visualize=True),IsaacSensorCreatePrim
(path=/sensor,parent=/World/Flexiv_0/panda_leftfinger,schema_type=?,position=?,visualize=True)'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   memoryStats = '(avail
/total) RAM: 50.4817/62.8118GB, Swap: 0.443474/0.957027GB, VM: 1.71799e+10/1.71799e+10GB'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   portableMode = '0'
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   stageUrl = ''
2022-08-03 13:47:47 [46,373ms] [Warning] [carb.crashreporter-breakpad.plugin]   systemInfo = '
|---------------------------------------------------------------------------------------------|
| Driver Version: 470.129.6     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | Quadro RTX 8000                  | Yes: 0 |     | 49398   MB | 10de      | 0          |
|     |                                  |        |     |            | 1e30      | 6a3bd068.. |
|=============================================================================================|
| OS: Linux isaac, Version: 5.4.0-107-generic
| Processor: Intel(R) Xeon(R) Gold 6226R CPU @ 2.90GHz | Cores: Unknown | Logical: 12
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64319 | Free Memory: 56313
| Total Page/Swap (MB): 979 | Free Page/Swap: 979
|---------------------------------------------------------------------------------------------|
'
2022-08-03 13:47:47 [46,374ms] [Warning] [carb.crashreporter-breakpad.plugin]   telemetrySessionId = 
'0'
2022-08-03 13:47:47 [46,374ms] [Fatal] [carb.crashreporter-breakpad.plugin] Thread 3188 backtrace fol
lows:
2022-08-03 13:47:47 [46,615ms] [Fatal] [carb.crashreporter-breakpad.plugin] 000: libcarb.events.plugi
n.so!std::basic_string<char, std::char_traits<char>, std::allocator<char> >::~basic_string()+0xde4
2022-08-03 13:47:47 [46,883ms] [Fatal] [carb.crashreporter-breakpad.plugin] 001: libcarb.assets.plugi
n.so!std::basic_string<char, std::char_traits<char>, std::allocator<char> >::basic_string(std::string
 const&, unsigned long, unsigned long)+0x8e54
2022-08-03 13:47:48 [47,158ms] [Fatal] [carb.crashreporter-breakpad.plugin] 002: libcarb.datasource-f
ile.plugin.so!std::basic_string<char, std::char_traits<char>, std::allocator<char> >::~basic_string()
+0x424
2022-08-03 13:47:48 [47,434ms] [Fatal] [carb.crashreporter-breakpad.plugin] 003: libgpu.foundation.pl
ugin.so!std::fill(std::_Bit_iterator, std::_Bit_iterator, bool const&)+0x374
2022-08-03 13:47:48 [47,676ms] [Fatal] [carb.crashreporter-breakpad.plugin] 004: libcarb.datasource-o
mniclient.plugin.so!std::_V2::condition_variable_any::~condition_variable_any()+0x1044
2022-08-03 13:47:48 [47,918ms] [Fatal] [carb.crashreporter-breakpad.plugin] 005: libomni.kit.renderer
.plugin.so!std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<s
td::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__fut
ure_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__futu
re_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV
2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_b
ase::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std:
:__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)::{lambda()
#2}::_FUN()+0x3114
2022-08-03 13:47:49 [48,154ms] [Fatal] [carb.crashreporter-breakpad.plugin] 006: librtx.materialdb.pl
ugin.so!std::_Sp_counted_deleter<std::atomic<bool>*, std::__shared_ptr<std::atomic<bool>, (__gnu_cxx:
:_Lock_policy)2>::_Deleter<std::allocator<std::atomic<bool> > >, std::allocator<std::atomic<bool> >, 
(__gnu_cxx::_Lock_policy)2>::~_Sp_counted_deleter()+0x554
2022-08-03 13:47:49 [48,399ms] [Fatal] [carb.crashreporter-breakpad.plugin] 007: libpthread.so.0!funl
ockfile+0x50
2022-08-03 13:47:49 [48,642ms] [Fatal] [carb.crashreporter-breakpad.plugin] 008: libsdf.so!pxrInternal_v0_20__pxrReserved__::SdfPath::IsAbsolutePath() const+0x1f
2022-08-03 13:47:49 [48,882ms] [Fatal] [carb.crashreporter-breakpad.plugin] 009: libusd.so!pxrInternal_v0_20__pxrReserved__::UsdStage::GetPrimAtPath(pxrInternal_v0_20__pxrReserved__::SdfPath const&) const+0x19
2022-08-03 13:47:50 [49,113ms] [Fatal] [carb.crashreporter-breakpad.plugin] 010: libomni.flowusd.plugin.so!void std::vector<double, std::allocator<double> >::emplace_back<double>(double&&)+0x15914
2022-08-03 13:47:50 [49,347ms] [Fatal] [carb.crashreporter-breakpad.plugin] 011: libomni.stageupdate.plugin.so!carbOnPluginShutdown+0x1d83
2022-08-03 13:47:50 [49,602ms] [Fatal] [carb.crashreporter-breakpad.plugin] 012: libomni.usd.so!std::_Hashtable<unsigned long, unsigned long, std::allocator<unsigned long>, std::__detail::_Identity, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, true, true> >::_M_insert_unique_node(unsigned long, unsigned long, std::__detail::_Hash_node<unsigned long, false>*)+0x4a12
2022-08-03 13:47:50 [49,878ms] [Fatal] [carb.crashreporter-breakpad.plugin] 013: libomni.usd.so!std::_Hashtable<unsigned long, unsigned long, std::allocator<unsigned long>, std::__detail::_Identity, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, true, true> >::_M_insert_unique_node(unsigned long, unsigned long, std::__detail::_Hash_node<unsigned long, false>*)+0x590d
2022-08-03 13:47:51 [50,140ms] [Fatal] [carb.crashreporter-breakpad.plugin] 014: libomni.usd.so!std::string __gnu_cxx::__to_xstring<std::string, char>(int (*)(char*, unsigned long, char const*, __va_list_tag*), unsigned long, char const*, ...)+0x1f6f
2022-08-03 13:47:51 [50,374ms] [Fatal] [carb.crashreporter-breakpad.plugin] 015: libcarb.events.plugin.so!std::_Hashtable<unsigned long, unsigned long, std::allocator<unsigned long>, std::__detail::_Identity, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, true, true> >::_M_insert_unique_node(unsigned long, unsigned long, std::__detail::_Hash_node<unsigned long, false>*)+0x19a3
2022-08-03 13:47:51 [50,646ms] [Fatal] [carb.crashreporter-breakpad.plugin] 016: libomni.kit.loop-default.plugin.so!std::thread::_State_impl<std::thread::_Invoker<std::tuple<omni::kit::RunLoopThread::run()::{lambda()#1}> > >::~_State_impl()+0x66c
2022-08-03 13:47:51 [50,881ms] [Fatal] [carb.crashreporter-breakpad.plugin] 017: libomni.kit.loop-default.plugin.so!std::thread::_State_impl<std::thread::_Invoker<std::tuple<omni::kit::RunLoopThread::run()::{lambda()#1}> > >::~_State_impl()+0xd6c3
2022-08-03 13:47:52 [51,124ms] [Fatal] [carb.crashreporter-breakpad.plugin] 018: libomni.kit.app.plugin.so!_init+0x285b
2022-08-03 13:47:52 [51,378ms] [Fatal] [carb.crashreporter-breakpad.plugin] 019: libomni.kit.app.plugin.so!carbOnPluginPostShutdown+0x7e7
2022-08-03 13:47:52 [51,628ms] [Fatal] [carb.crashreporter-breakpad.plugin] 020: kit!_init+0x5e7
2022-08-03 13:47:52 [51,857ms] [Fatal] [carb.crashreporter-breakpad.plugin] 021: libc.so.6!__libc_start_main+0xe7
2022-08-03 13:47:52 [52,081ms] [Fatal] [carb.crashreporter-breakpad.plugin] 022: kit!_init+0x93b
Segmentation fault (core dumped)

Can anybody answer me ?

Hi newuhe, the following code I have tried and can work.

from omni.isaac.contact_sensor import _contact_sensor

cs = _contact_sensor.acquire_contact_sensor_interface()
props = _contact_sensor.SensorProperties()
props.radius = -1 # Cover the entire leg tip
props.minThreshold = 0
props.maxThreshold = 20
props.sensorPeriod = 1 / 100.0

cs.add_sensor_on_body(‘/your_prim_path’, props)

Hope can help you!

Thanks for replying. But my IsaacSim version is 2022.1 and the _contact_sensor api is deprecated.