Simulating a switch or button in Isaac Sim

Omniverse Isaac Sim
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: RTX3070Ti
  • Driver Version: 575.57.08

Topic Description

Detailed Description

I am trying to simulate a switch to open a door.
Would be great if a detailed guide is provided.

Screenshots or Videos

After Physics Scene added, theres been a change but it still doesnt work

image
image1088×643 121 KB

Additional Information

What I’ve Tried

Fixed Joint between wall and switch body
Revolute Joint between the switch body, and the switch itself
Revolute Joint between the switch and the wall
Adjusted stiffness and damping values
Added/Removed articulation root to wall and switch body

3

I have figured out that its related to this problem Robot gets sucked into a collider upon contact. Setting Convex Hull introduces this problem

4

Hi @MrOCW, thanks for posting your issue. Could you share the files necessary to reproduce this? Thanks!

5
6

When using code to create a fixed joint between wall1 and the switch body, say at local pos 0,0,0, upon pressing PLAY, the joint spawns/flies off elsewhere