Collision issue with triangle meshes

[mwiebe]

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

• Model: Quadro RTX 5000
• Driver Version:

Topic Description

Detailed Description

After importing a model of a pipe connector I tried setting up a collider with a triangle mesh for it. To test it I also created a default cylinder mesh and added the Rigid Body and Colliders Preset to it.
When letting the cylinder fall into the holes of the pipe connector it fell through the hole, but when reaching the end of the tube it kept falling until it was halfway through the wall of the pipe, then started glitching around and finally rocketed out of the screen.
When switching the collider approximation to convex decomposition, the collision worked as expected. However the approximation has a lower accuracy which could pose a problem for future experiments involving simulation of a digital twin.

Steps to Reproduce

1. Open attached USD file test_collision_without_festo.usd-20250212T140458Z-001.zip (4.9 KB)
2. Get the CQT-15 model from Festo (from here)
3. Set scaling to 0.01 and add a Collider Preset with triangle mesh approximation
4. Start simulation

Error Messages

No error messages

Screenshots or Videos

Additional Information

What I’ve Tried

• using convex decomposition (not accurate enough)
• switching to approximation mesh simplification, SDF mesh (no changes)

[mwiebe]

I found the mistake. According to this tutorial rigid bodies do not accept triangle meshes and mesh simplifications as approximations. They can use SDF Mesh, which works perfectly.

Also enabling CCD was another important fix that solved a lot of problems.