I want to detect the collision between the gripper and the building blocks using SDF Mesh, but in the isaac sim simulation interface, no collision

[qi.chang.ten]

I want to detect the collision between the gripper and the building blocks using SDF Mesh, but in the isaac sim simulation interface, there is no collision. However, the Python code detected the collision. The detection method I used is:
gripper_left = “/World/left/gripper/gripper/gripper”
h0, h1 = PhysicsSchemaTools.encodeSdfPath(gripper_left)
interface = omni.physx.get_physx_scene_query_interface()
def on_hit(hit):
print(f"left hit: {hit.collision}")
return True
cube1_num_hits = interface.overlap_mesh(h0, h1, on_hit, False) ,
If it’s not right, what method should I use, what API should I use, or how should I set up the USD model

[qi.chang.ten]

I have found this case, but I don’t know how to use it in Isaac SIM. My requirement is to detect collisions between the gripper and the object

[qi.chang.ten]

@qi.chang.ten

overlap_mesh

I found out through checking the code comments that the overlapped mesh defaults to convex hull. What are the relevant APIs for SDF