Creating Collision Meshes

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

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

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.


Hi @harjot

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

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