Colliders for wheels

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

Here is another screenshot with the unprecise colliders.

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

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.