Contact sensors crash for specific robots (Isaac Sim 2023.1.1)

Omniverse Isaac Sim
1

I am attempting to add a contact sensor to a robot via the python API. When I load in the default Ant scene from the contact sensor example or create a robot from scratch out of meshes, my code executes just fine. As soon as I try to add a contact sensor to the Franka or UR10 as set up in the ‘Isaac Examples’ tab, isaac sim completely crashes. I tried applying it to different links and meshes, but nothing seems to work. Here is the command that is causing the crash:

def create_sensor(self, parent_path, position, radius, name):
    result, sensor = omni.kit.commands.execute(
        "IsaacSensorCreateContactSensor",
        path="/tact_sensor_" + name,
        parent=parent_path,
        min_threshold=0,
        max_threshold=1000000,
        color=(1, 0, 0, 1),
        radius=radius,
        sensor_period=1,
        translation=position,
        visualize=True,
    )

Was the Ant example setup in such a way that allows for contact besides just adding the sensor? If so, how can I do this for another robot made in the past?

2

Please use Isaac Sim 4.0 and check if you still see the issue

3

It no longer crashes, thanks! However, I can’t seem to return any contact data from the same robots that would previously crash. I am attempting to apply this to the “Follow Target” manipulation example with the Franka arm for example.