The Object Keeps Wobbling After Landing on AGV – How to Stabilize It in Isaac Sim?

Omniverse Isaac Sim
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Isaac Sim Version

[V] 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

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

GPU Information

  • Model: A6000
  • Driver Version: v565.57.01

Topic Description

Detailed Description

(Describe the issue in detail, including what you were trying to do, what you expected to happen, and what actually happened)
Hi everyone,

I’m currently working on an AGV simulation in Isaac Sim, and I’ve encountered a strange issue when I drop a cube onto the AGV platform(from Isaac Sim Assets). The cube lands but wobbles continuously, instead of settling down as expected. Both the AGV and the cube would bounce if I lifted the joint of the AGV.

I’ve tried adding the physics material with the restitution as 0 to the cube. It seems that the contact between the cube and the AGV is not stable.

Has anyone experienced a similar issue? I would appreciate any suggestions on how to fix or debug this kind of behavior.

Thanks in advance for your help!

Steps to Reproduce

  1. Load the USD file of iwhub_test.usd to Isaac Sim full v4.5.0
  2. Start the simulation and then click on the Cube. Check whether it stays stable on the AGV platform.
  3. Use Python codes to lift the joint of the AGV
    (Add more steps as needed)

Error Messages

(If applicable, copy and paste any error messages you received)
No error occurs during the simulation.

Screenshots or Videos

(If applicable, add screenshots or links to videos that demonstrate the issue)
There are the attachments about my experiment:
1.CubeWobblingAfterLanding.mp4: The video shows the cube continues to oscillate after landing.
2.CubeBouncingWhenLiftingJoint.mp4: The video demonstrates what happens when the AGV’s joint lifts.
3.testUSD.zip: The USD files are used in the experiment


testUSD.zip (84.8 KB)

Additional Information

What I’ve Tried

(Describe any troubleshooting steps you’ve already taken)
I’ve tried to change the values of the restitution and static friction fields of the physics material
I have also tried to increase the mass of the cube.
None of them helps fix the problems.

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 @jeff.cy.chuang1, thank you for posting your issue. I think the cube is just too heavy compared to the AGV. Mass of a arbitrary cube, if not specified, will be autocomputed using the default density. I would suggest adding a Mass property to the Cube (Right click>Add>Physics>Mass) and set a mass that works for you. I tried 100 KG and it seemed to behave well.

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