I am trying to use Isaac gym for a sim to real experiment however I am encountering a lot of issues. The first one would be the mesh approximation using convex decomposition for the collisions.
I am using this set of parameters and my wheels still look like they are made of legos.
asset_options.vhacd_enabled = True asset_options.vhacd_params.resolution = 30000000 asset_options.vhacd_params.max_convex_hulls = 20 asset_options.vhacd_params.max_num_vertices_per_ch = 1 asset_options.convex_decomposition_from_submeshes = True asset_options.override_inertia = False asset_options.override_com = False
The frustrating part is that I do not need a convex approximation at all, the wheel as described in my URDF is a perfectly convex .obj triangle mesh… Is there a way to load this mesh directly WIHTOUT PhysX ruining it? I have noticed that the FleX backend won’t do this but then I can’t use the tensor API.
I am aware of the existence of primitives such as capsules but they wont do the job.