Physics Demo Franka Nut and Bolt

Overview

Securing a nut onto a bolt is a challenging task for a robot. It requires, among other things, the ability to detect collisions between arbitrary shapes, like threads. With Omniverse, you can simulate these types of complex robotic interactions.

This demo is a real-time simulation of Franka Emika robotic arms manipulating nuts and bolts.

Parameters

Parameter	Description
Number of robots (parameter on startup)	Defines the number of robots to simulate in the demo

Controls

Reference #	Control	Shortcut	Description
1	Physics Interaction Mode	I, then click and drag a robotic arm	Moves the arm
2	Home	H	Returns the Viewport camera to the scene’s point of origin
3	Orbit	Alt + Left Mouse Button	Rotates the Viewport camera around a given point
4	Play	Space (while paused)	Plays the animation
5	Pause	Space (while playing)	Pauses the animation
6	Restart	N/A	Restarts the animation