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: 3090
Hello,
I am attempting to simulate pseudo-rigid-body beams inside Isaac Sim. Currently, I have a python class that generates the beams based on a number of properties and another script that creates the beam and conducts the experiment. Originally, I was only doing 1 beam at a time and was thus using CPU dynamics and was getting good results. My next step was to scale up to doing many beams at one time. In an attempt to get the most out of my system I enabled GPU dynamics. However, when I do this the simulation behaves non-physically. For example, here is an image of the beams under end load when GPU dynamics is set to false:
(I had a screenshot here but was only allowed to upload one. This one looks like a group of cantilever beams in bending)
And here is the simulation when GPU Dynamics is set to true:
To go into more specifics on how I’m creating the beams, I am creating a initial fixed point then using revolute joints between that first point and the first segment of the beam. Then I create the rest of the segments connecting them with more revolute joints. Finally, I apply forces and moments at the ends. The revolute joints are created with a predetermined stiffness.