Bumpy reaction force when object rolling over evenly lined up, but separate objects with collider

[dj_lee]

Isaac Sim Version

[O] 4.1.0

Operating System

[O] Windows 10

GPU Information

• Model: RTX 4090
• Driver Version: 555.99

Hello,

I found a weird behavior while trying to build a robot simulation with Isaac Sim.

Simplified description is below :
A bot is rolling through smoothly over two cubes evenly lined up “at a lower speed” ( target speed 150), while got bumped “at a higher speed” ( target speed 1500)

I expected a bot roll over objects smoothly if they are perfectly lined up at same z - height. But at a high speed, it got bumped by mysterious force.

I can I fix or walk around this issue?

Steps to Reproduce

1. Top Menu Bar-> Isaac Examples → import Robots → Carter URDF
2. Create a cube → scale (5, 5, 0.1) -->translate( 0, 0 ,-0.52) → Set static collider → Duplicate the cube
3. Translate the duplicated cube (5,0,-0.52)
4. Change the value at /carter/chassis_link/left_wheel.drive:angular:physics:targetVelocity as 150(low) and 1500(high)
5. run sim

Screenshots or Videos

Related Issues

(If you’re aware of any related issues or forum posts, please link them here)
Large force reaction when object sliding over evenly lined up, but separate objects - APIs / Physics Modeling (closed) - NVIDIA Developer Forums

[dj_lee]

I solved this issue by setting the collider offset very small.