A teammate alerted me to an Isaac Sim rendering bug as seen in this forum post where, in the case of collider approximation fallback, the visualized bright green lines may not represent the actual collider approximation used.
In other words, if before simulation start, a kinetic body had an approximation method assigned that was invalid for kinetic bodies, when simulation is started it will fallback to Convex Hull.
The fingers of our gripper are already configured to use Convex Decomposition which should be valid and NOT cause the fallback. However, when testing the gripper, the issues of:
- apparent min joint limits
- appearing to collide with object before the surface
- pushing objects out of gripper
Would all be explained by this fallback to Convex Hull occurring
Collision Approx with Convex Hull - Open
Collision Approx with Convex Hull - Closed
Documentation
omni.isaac.core.prims.GeometryPrim.get_collision_approximation
Questions
- Why would the collider fallback be occurring if we are using a valid approximation method?
- Is there a way to prevent this fallback?
- Is there a way to better debug or diagnose colliders that simply enabling the visual setting?