Creating Collision Meshes

[harjot]

Hello, I imported a hand from Onshape into isaac sim and was messing around with it and noticed that the fingers are phasing into each other and not colliding. Online I saw that I need to do a convex decomposition, I was wondering if anyone could help me with adding collision physics to the model I am working with.

Thanks

[toni.sm]

Hi @harjot

These links may help

https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_physics/rigid-bodies.html?#static-colliders

https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_physics/rigid-bodies.html?#collision-settings

[harjot]

I used the convex decomposition that was mentioned in the second link but even after adding the colliders the fingers are still phasing into each other. I have added photos for reference. Also I had the maximum number of convex hulls set to 32 for each digit of the hand.

[toni.sm]

Hi @harjot

If your robot is an Articulation you can enable the Self Collisions flag to avoid this behavior

[harjot]

That fixed it. Thank you so much for the help, really appreciate it