I’m currently working with the OmniIsaacGymEnvs package / FactoryTaskNutBoltPick example
I would like to modify the example code to pick an object(ex. harness) instead of the nut(default picking target)
However, It seems to be facing a problem related to an .usd file format in Isaac Sim.
What I’ve tried is
- save the nut.usd to my local directory from the running example (for comparision)
- convert a harness 3d model file to .usd format (.stl → .usd)
2-1. start Isaac sim app and import harness.stl file
2-2. edit harness object with visual and collisions similar to nut.usd (below screenshot)
2-3. save harness.usd format to my local directory
[harness.usd and nut.usd stage tree]
- debug and run (vscode)
[Isaac Sim. Output]
harness penetrating into the desk (No more falling down. fluttering around)
PhysX error: PxgDynamicsMemoryConfig::collisionStackSize buffer overflow detected, please increase its size to at least (number) in the scene desc!
harness stage tree, while running example
I want to make the harness 3D model interact with the environment exactly as its own shape.
However, There is a collision calculation error, and it seems that the collision calculation is not being performed based on the shape of the harness. As a result, certain parts of the harness keep penetrating into the desk.
Even after reading the documentation related to USD, I’m not entirely sure where to look for guidance or which specific part of the .usd file needs to be modified. I’m unsure about what steps to take next.
- OS : Ubuntu 20.04 LTS
- GPU : RTX 2070
- Memory : 32GB