[Question] SDF mesh collider for mesh usd

[Zyl-000]

Question

Hi,
I am working on a contact-rich object insertion task and I find out the comvex decomposition of the object is far to rough for simulation. I noticed there is a sdf mesh collider, and I want to know how to create a usd with mesh collider from mesh file.

[RandomOakForest]

Thanks for posting this. This can be done using Omni Physics colliders, see this doc for reference and examples.

[Zyl-000]

I noticed in https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html the Rigid-Body Collision Mesh Approximation are "convex hull", "convex decomposition", "bounding sphere", "bounding box" and "sdf". But in mesh converter cfg of IsaacLab, except the first four type, there is another approximation called "meshSimplification", is this sdf?

[Zyl-000]

Also when I am using convert mesh, I got this error "convert_mesh.py: error: argument --collision-approximation: invalid choice: 'meshSimplification' (choose from 'convexDecomposition', 'convexHull', 'none')"

[RandomOakForest]

This may be an Isaac Sim version issue. Are you running Isaac Sim 4.5? I'll move this issue to our Discussions. Note that meshSimplification is not SDF-based: It directly approximates the original mesh geometry rather than using distance fields.