I wanted to report a problem that I encountered while working with a setup involving a robot with fixed joints and approximated collision using SDF (Signed Distance Fields). In my environment, I added objects with fixed joints, similar to the robot, using SDF-based collision approximation. However, in some environments in parallel, as shown in the following pictures, the robot unexpectedly teleports to strange positions. I am using the Docker image of IsaacSim2022.2.1.
Interestingly, when I exclude the fixed joints from the SDF-based objects, the robot moves correctly, leading me to suspect that adding multiple fixed joints within a single environment triggers this bug. However, I noticed that in the Factory demo, bolt is able to have fixed joints without issues.
I’m seeking guidance on how to address this problem. Is there a recommended approach for adding multiple fixed joints within an environment that uses SDF-based collision? Any insights or suggestions would be greatly appreciated.
Thank you in advance for your help.