How can I do collision detection with Issac Gym

Autonomous Machines Robotics - Isaac Isaac Gym
1

I am loading three different assent a cube, robot arm and table.

The arm is placed on the table. how can i detect collision between arm with the table? or arm colliding with itself?

Thanks

2 Likes
2

We currently support tensor APIs that collect all contact forces on bodies (acquire_net_contact_force_tensor) or you can add force sensors to certain bodies with create_force_sensor. We will be working on a more fine-grained collision detection API that will eventually allow you to retrieve collisions between specific bodies or objects.

3

Hi, are there any updates regarding this? Getting contacts between specific objects seems like a fundamentally important thing to have…

Would it be possible for you to give an estimate as to when this feature will be added?
Thank you so much!

9 Likes
4

Would love this feature as well! Any news on this?

5

Also interested. :) It would also be a great feature.

6

Also needing this feature!

7

Any update on this feature?

8

Hi, is there any news about the fine-grained collision detection API? It is really important to robot learning.

9

Hi there, improved contact APIs are available in Isaac Sim. Please check out Core [omni.isaac.core] — isaac_sim 2023.1.0-rc.36 documentation.