It falls!

The jacobian can now collide with the surrounding environment:

This simulation demonstrates a ragdollish fall of the Jacobian model interacting with the floor.

The light blue leg (the left one) represents the convex approximation of the model real shape, the real shape is represented by the right leg (with a darker blue). It is visible the similarity between these two shapes.

The PhysX debug view is toggled and the orange lines represent the convex meshes used.

Some cubes are thrown into the scene interacting with the robot and floor and indicating that the collision with the environment works correctly.