Hi,
I’m playing with the Surface Gripper example that comes with Isaac Sim. If I apply a bit of upward force to the cone, and then let it drop, then I start getting the “Surface Gripper is inside the parent mesh. please move it outside to be able to use the Gripper” message.
I thought the surface-gripper always stayed fixed relative to the parent prim. So in this case, why would moving the cone cause this warning?
Thanks!
Hi @dan.sandberg - Did you refer to this document?
https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_surface_gripper.html
Hi, yes, I’ve read that a bunch of times. I’m using the unmodified surface gripper example you guys provide. Using that unmodified example, I’m getting the warning I mentioned. Am I missing something in that document that addresses the “surface gripper is inside the parent mesh” warning?
Update: I’ve played around a bit more and I’m now guessing this is because the cone is deforming and that causes the gripper to move into the mesh. So this relates to the question I asked here:
How do I make so an object isn’t deformable? Presumably if the cone wasn’t deformable then moving it around and dropping it wouldn’t cause the gripper to intrude into the mesh.
