Object moves before tool comes into contact

Omniverse Isaac Sim
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1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: A5000
  • Driver Version: 550.144.03

Topic Description

Detailed Description

I’m trying to push the Tbar object into the outline on the table. However, the Tbar seems to move before the tool comes into contact; sometimes the tool even passes through the Tbar.

Steps to Reproduce

The whole project is a clone of this tutorial. The file in the description contains all the codes and usd file.

Error Messages

(If applicable, copy and paste any error messages you received)

Screenshots or Videos

Additional Information

What I’ve Tried

I’ve tried changing the contact_offset and rest_offset for both tbar and tool on wrist_3. Nothing seems to improve the situation.

Related Issues

(If you’re aware of any related issues or forum posts, please link them here)

Additional Context

(Add any other context about the problem here)

3

Hi @felix.kong1, I am not familiar with this tutorial, but was not able to clone the repo and reproduce the problem on my end. If you can provide any code or assets to reproduce it it would speed up things. One thing I would try is to change the Collider mesh approximation of the objects. You can change it for the peg and the object to convex decomp or convex hull (for the peg convex hull might work).

4

Hello!

We noticed that this topic hasn’t received any recent responses, so we are closing it for now to help keep the forum organized.

If you’re still experiencing this issue or have additional questions, please feel free to create a new topic with updated details. When doing so, we recommend mentioning or linking to this original topic in your new post—this helps provide context and makes it easier for others to assist you.

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The NVIDIA Isaac Sim Forum Team