4.2.0
Windows 10
I have a disk like mesh (the wheel of our robot) with a collider
as you can see, the collider is not accurate. how can i reduce the radious of the collider to fix the mesh exactly?
Thank you,
Danielle
Hi Danielle,
Thank you for your question. There could be a couple of reasons for the mismatch between the visual and the collider mesh. If you opened an existing usd then likely the collider mesh was designed to be larger. If you are importing a URDF then you can try to derive the mesh collider from visual mesh (Import URDF pane > Colliders >Collision From Visuals). You can also choose the Collision Type to be Convex Decomposition instead of the default Convex Hull. What that means is that various convex hulls will be generated to match the original mesh as opposed to a more coarse approximation with one convex hull per link.
Hi @michalin ,
thank you for your responce. I am not using URDF, is there a way to fix this for regular USD files?
The wheel is a “shape” that was created with the right click menu.
Thanks
Hmm, a short fix is that you create a Mesh Cylinder and add a collider to that rather than using the primitive shape. I will investigate further into why for the primitive shape there is an offset on its collider.
