An error for setting contact sensor in isaac sim 2023.1

Omniverse Isaac Sim
1

2023-11-02 16:53:50 [8,809ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_0/Robot/left_finger_tac_1_1

This error occurs when I add a contact sensor to an xform, which causes the robot arm to move randomly in the environment.

2

Hi @yiyiliu.liu - Did you follow this document when setting up contact sensor?
https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_physics_based_contact.html#isaac-sim-sensors-contact

3

Thanks for your reply!

I have tested the contact sensor demo, and this error seems to occur when manually dragging objects while the simulation is running. Is it normal?

5

Hey Yiyiliu.liu,

Is the xform that the sensor is attached to a rigid body? The current version of the contact sensor requires the immediate parent to be a rigid body to function. However, in the upcoming bugfix, we will allow the rigid body parent to be anywhere above the sensor in the stage tree.

Thanks,
Steven