I want to use isaac sim to open the refrigerator door in the scene, but unfortunately I failed

Omniverse Isaac Sim
,
1

Isaac Sim Version

[*] 4.5.0

Operating System

[*] Windows 10

GPU Information

  • Model: Rtx 3070
  • Driver Version: 576.02

Topic Description

I want to set the joints of the refrigerator in isaac sim to enable the refrigerator door to be opened, but no matter how I set it up, it will fly out no matter how I set the refrigerator door.

The attachment is a usd scene. If possible, please help me modify the refrigerator door. The refrigerator door can be opened to the right.

image
image1920×1065 99.2 KB

Kitchen_set.zip (2.7 MB)

3

Hi @msn1446311191, thanks for posting your issue. Looking at your assets, I noticed that all the prims have their origin at (0,0,0) of the world, but the imported mesh is offset. In this case what you want to make sure is before you assign the joint Body 0 and Body 1 targets set the correct joint pivot positions.
Steps:

  1. In the RevoluteJoint Property, remove (x button) Body 0 and Body 1.
  2. Assign the correct axis pivot point. You can copy the position of the mesh of polySurface34 (will be Body 0) and assign to Local Position 0, then do the same for polySurface 39 (will be Body 1) on Local Position 1. Then move both positions to where you want the door hinge to be.
  3. Add the Target for Body 0 and Body 1
  4. Add a Joint Drive, and set a high stiffness and damping.
  5. You don’t need to always set a high stiffness, but your parts are very big and don’t have a material so their weight is calculated by uniform density which ends up being very heavy. You can assign a new custom material and reduce the density if you want to make it lighter.

Here is a video of the process


Kitchen_set_edited.usd (283.9 KB)

1 Like
4

Thank you.