Objects are penetrating each others in Issac Sim (Orbit)

[berternats]

I am building a parallel RL environment for a robot to grip an long object.
I notice that the robot grip’s fingers are penetrating the object, may I know why?

Thank you in advance!

[mmittal]

Hi, how are you controlling the gripper? Are you using the mimic mechanism actuator group?

[berternats]

I use convex hull collider for both object and gripper fingers.
I do not use the mimic mechanism actuator group

[tony523685623]

I’ve met the similar problem like that. The gripper of the robot arm does not interact well with the object in the scene, so that I can’t pick the object.