Weird Collision Box for yellow Forklift

[FooTheBar]

Hey!

I’m using the yellow forklift to move around some pallets with items and the stack always exploded when I tried to put it on the fork. I then checked the collision-objects and found the collision_box-prim which covers the whole volume above the forks:

I don’t think that this is a very useful default, because it makes is quite difficult to move objects with the forklift and is quite surprising.

[michalin]

Hi @FooTheBar thank you for your question. This is most likely due to the collider approximation option used when importing the asset. You could try using Convex Decomposition to approximate the collider. If you are using the Isaac Sim GUI to import the URDF then make sure to check the right box for Convex Decomp URDF Importer Extension — Isaac Sim Documentation. If you are importing through Python API then make sure that these two configurations are set:

import_config.convex_decomp = True
import_config.convex_decomp_resolution = 1000 # or more depending on the complexity of shapes

If you are looking for a generic forklift asset, there are already a couple of options that come with Isaac Sim 4.5.0. Go to Create>Robots>Asset Browser then look for “forklift_c”

Hope that helps!

Michael