Is there a built-in torque sensor?

Hi, we plan to simulate peg-in-hole insertion in Isaac Sim. Isaac Sim 2021 open beta has a contact force sensor, and we are wondering if there is a torque sensor as well?

We searched the documentation but did not find it. Is the release of the torque sensor on the roadmap?

Hi ycsuphy,

As you have seen in the documentation at the moment we only have force sensor, but torque sensor is on the roadmap.
In some applications you can use the force sensor and just add some post processing to it to make is toques sensor.

Kindly,
Liila

can you make that contact sensor to a multi dof force sensor?

PhysX provides support for adding force/torque sensors directly to an articulation
https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_physics.html#force-sensors