Conflict Between SDF Collision Geometry and Effort Control with GPU Dynamics in Isaac Sim

[makoto.sato385]

Regarding set_joint_efforts

Hello! When reading the Isaac Sim API documentation about set_joint_efforts, it mentions the following: This method can be used for effort control. For this purpose, there must be no joint drive or the stiffness and damping must be set to zero. Core [omni.isaac.core] — isaac_sim 4.0.0-beta.90 documentation However, when I use this function, the gripper closes automatically due to gravity. Why is it designed this way? Indeed, when setting the stiffness and damping of the relevant joints of…

Issue with GPU pipeline

Hello, When enabling GPU dynamics in the physics scene of Isaac Sim, I am experiencing significant interpenetration issues between the blocks and the gripper, as shown in the attached videos. This issue does not occur, or is significantly less severe, when using CPU dynamics. Here is the video demonstrating the issue with GPU dynamics. Additionally, here is the video showing the behavior with CPU dynamics. Could you help me understand what might be causing this issue? Thank you.

Differences in Collision Geometry Models

Hello, Currently, I am conducting a simple block demo with GPU dynamics enabled, simulating SDF-SDF contact and SDF-Triangle Mesh contact. In the SDF-SDF simulation results, there is no penetration, and the simulation runs smoothly. However, in the SDF-Triangle Mesh demo, although there is no penetration, the block set with SDF can be seen vibrating in the video. Here is the video demonstrating the SDF-SDF simulation. Additionally, here is the video showing the SDF-Triangle Mesh simulat…

This issue is also related to the articles mentioned above. When the Collision Geometry is set to SDF, it is necessary to enable GPU dynamics. However, effort control is required to grasp objects, but the joint_efforts in the ArticulationAction class passed to apply_action is only supported on the CPU and cannot be used. How can this be resolved?