Colliders for wheels

[bruno.vetter]

Hi,

I find it difficult to create a collider for a wheel. The collider mesh which is approximated is not at all perfectly round. I know I could use a sphere or a cylinder dummy object, but the wheel is actually conical and supposed to run on a rail. See screenshot. Any advice?

Thanks much
Bruno

[bruno.vetter]

Here is another screenshot with the unprecise colliders.

[Hammad_M]

in the Isaac Sim 2021.2.0 release you can now specify cylinderical collision shapes. If your prim is a cylinder shape you can add a collision API to it and enable the custom geometry flag

See the “shapes” section here Physics Core — Omniverse Create documentation

[bruno.vetter]

Thank you. It is good to have that option. Still, we might need a precise simulation of a train wheel, which would require a conical profile.

[bruno.vetter]

Is it possible that the feature I am looking for is actually there in the new version of Isaac Sim? I created cone shapes and using custom geometry, they also seem to be precise. The left one is without, the right one with custom geometry.

[Hammad_M]

Yes, cones are also supported via the custom geometry flag