Genesis-Embodied-AI
[Bug]: Severe simulation clipping observed after upgrading gstaichi to 4.0.0.
Bug Description
Hi, I have used Genesis for a long time. Recently, I have upgraded my previously installed Genesis, and I found that the clipping issue just become more often than before. For instance, whenever the gripper grabs a cube, it clips through and sticks to the object in the current build.
I managed to isolate the issue: if I roll back to this version, the clipping stops. But every version after that has the same bug.
I checked the commit logs and saw that the very next update upgraded gstaichi to 4.0.0. So, I’m pretty sure the gstaichi 4.0.0 upgrade is the root cause.
Steps to Reproduce
NA
Expected Behavior
The clipping issue becomes more often after upgrading to 4.0.0.
Screenshots/Videos
No response
Relevant log output
Environment
- OS: Ubuntu 24.04
- GPU/CPU A100 or RTX 4090
Release version or Commit ID
NA
Additional Context
No response
Do you have a way to reproduce this? This is very surprising because collision detection is unit tested and no issue was observed recently.
