Self-collision issues in the Franka Panda examples (franka attractor)


I was adapting example and tested it in more challenging motions but I found that the simulator failed to accurately model collisions and the panda hand goes through the arm.
I suspect it happens when the hand is on top of the arm instead of the common use case where the hand is facing downwards.

I did not change the API calls, only the targets for the controller (I attached the python file for reference). (8.1 KB)

Here is a screen capture that shows this behaviour:

Screenshot from 2023-07-10 16-19-05

I’m using isaacgym 1.0rc4 with python 3.7.12, and using the Panda URDF that comes with the isaac-sim installation.

Did anyone encounter such a problem and know how to fix it?