Colliders for wheels

Autonomous Machines Isaac Omniverse Isaac Sim
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#1

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

Screen Shot 2021-11-10 at 1.02.02 PM
Screen Shot 2021-11-10 at 1.02.02 PM2282×528 40.3 KB

#2

Here is another screenshot with the unprecise colliders.

Wheel.PNG
Wheel.PNG1920×1322 73.4 KB

#3

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

image
image1387×853 135 KB

#4

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.