An error for setting contact sensor in isaac sim 2023.1

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.

Hi @yiyiliu.liu - Did you follow this document when setting up contact sensor?

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?

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.