# Rigid Body Collision Penetration Issue in Isaac Sim

**URL:** <https://forums.developer.nvidia.com/t/rigid-body-collision-penetration-issue-in-isaac-sim/313037>\
**Category:** Isaac Sim\
**Tags:** collision, isaac-sim-v4-2-0\
**Created:** [November 12, 2024, 11:40am UTC](https://forums.developer.nvidia.com/t/rigid-body-collision-penetration-issue-in-isaac-sim/313037 "2024-11-12T11:40:07Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![tony523685623](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tony523685623](https://forums.developer.nvidia.com/u/tony523685623)\
**Post date:** [November 12, 2024, 11:40am UTC](https://forums.developer.nvidia.com/t/rigid-body-collision-penetration-issue-in-isaac-sim/313037/1 "2024-11-12T11:40:07Z")

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### Isaac Sim Version

4.2.0  
 4.1.0  
 4.0.0  
 2023.1.1  
 2023.1.0-hotfix.1  
 Other (please specify):

### Isaac Lab Version (if applicable)

1.2  
 1.1  
 1.0  
 Other (please specify):

#Graphics / Linux > Linux ## Operating System  
 Ubuntu 22.04  
 Ubuntu 20.04  
 Windows 11  
 Windows 10  
 Other (please specify):

### GPU Information

- Model: RTX 4090
- Driver Version: 535.183.01 CUDA Version: 12.2

## Topic Description

### Detailed Description

I’m experiencing an issue in Isaac Sim where multiple rigid bodies, upon colliding, often penetrate each other rather than exhibiting realistic collision behavior. While collisions with the ground seem fine, objects tend to pass through each other when they collide. And I’ve tried different max\_depenetration\_velocity values for that.  
Specifically, when objects collide, they sometimes come to rest in physically unrealistic positions. For example, after colliding, a cracker box object might remain in an unstable orientation, such as balancing on a corner or edge rather than resting naturally on a flat surface.

### Steps to Reproduce

Configuration of collision and rigid body props:

```
        collision_props=CollisionPropertiesCfg(
            collision_enabled=True,
            contact_offset=0.02,
            rest_offset=0.7e-5,
            torsional_patch_radius=0.05,
            min_torsional_patch_radius=0.005,
        ),
        rigid_props=RigidBodyPropertiesCfg(
            solver_position_iteration_count=64,
            solver_velocity_iteration_count=4,
            max_angular_velocity=100.0,
            max_linear_velocity=5.0,
            max_depenetration_velocity=0.01,
            disable_gravity=False,
            stabilization_threshold=2.0,
            max_contact_impulse=1.0,
            sleep_threshold=0.5,
            linear_damping=0.5,
            angular_damping=0.5,
            # retain_accelerations=True,
            # enable_gyroscopic_forces=True,
        ),

```

### Screenshots or Videos

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/7/f/1/7f1b03b7d8c3ce0be99dd6e49accb06304f4d3cc.jpeg)

### Additional Context

- Are there recommended parameter settings to improve collision accuracy between rigid bodies?
- Should I enable any additional physics APIs (like SDF or higher-precision collision algorithms) for better results?
- Has anyone encountered a similar rigid body penetration issue, and if so, how was it resolved?

Any insights or advice would be greatly appreciated. Thank you in advance for your time and assistance!  
And if u need more infos about this problem, pls let me know :)

---

<div class="post-metadata">

**Author:** ![VickNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vicknv/32/14043_2.png) [@VickNV](https://forums.developer.nvidia.com/u/VickNV)\
**Post date:** [November 21, 2024, 5:41pm UTC](https://forums.developer.nvidia.com/t/rigid-body-collision-penetration-issue-in-isaac-sim/313037/3 "2024-11-21T17:41:52Z")

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It’s really hard to guess the cause based on the listed parameters. Would you be able to share the stage with us? Specifically, could you:

1. Set up the stage
2. Save it to USD format
3. Collect any referenced USD files
4. Share these files with us

This would help us better understand and diagnose the issue.