I think the strange collider in my robot configuration is causing a lot of instability during training. I speculate it is because of the strange collider that has been assigned to the capsule. To resolve such instability without changing the collider, I have to increase time steps per second into a unreasonable amount to be any efficient.
Perhaps I could increase the collider’s geometry complexity of the capsule, but I don’t think they has any effect on it
Perhaps I could change the capsule type to mesh type. but I am not sure how to do it. What will be a good solution for it?
You can also observe such strange collider if you create a capsule, then give radius of 0.01 an height of 1
Hmm this seems to be a bug in the USD debug visualization code, we will fix it for next release.
However the collider is correct in simulation, if you enable PhysX debug visualization (Window->Simulation->Debug), there you can enable PhysX debug visualization and colliders visualization. This is whats inside PhysX SDK:
Hi,
I have a related issue with capsules: The orientation seems to differ between the Isaac Sim collision guides (green) and the actual collision shapes (purple). The rotation frame seems to be misaligned, so a 90 deg rotation in Y corresponds to different rotations. Any ideas what causes this?
Hi Ales,
unfortunately, I cannot share the file, but you should be able to reproduce the error quite easily. Just add a capsule as a collision shape and rotate it around x or y. I don’t know if it makes a difference, but I am using two usd files, one for instancable meshes.
Best,
Clemens
Thanks, I was able to reproduce this, there seems to be incorrect relative transform computation for some reason, will debug and fix this. Thanks for reporting!
