Check overlap between a mesh and any other object in the scene

Omniverse Isaac Sim
1

Hi all,
I’m trying to check for the overlap of a mesh spawned inside a scene. I would like to check if the mesh i just created is overlapping with any other assets of the scene.

I checked this topic : Simple Way to check for collision, related to checking between 2 assets and checked the demo “overlap any” in Isaac and here is the part of the code I had interest for:

    # Detect overlap with green target block (success)
    xform = UsdGeom.Xformable(stage.GetPrimAtPath(self.defaultPrimPath + "/board/exitBlock"))
    tf = Gf.Transform(xform.ComputeLocalToWorldTransform(Usd.TimeCode.Default()))
    if get_physx_scene_query_interface().overlap_sphere(0.1, carb.Float3(tf.GetTranslation()), None, False):
        self.gameTime = self.globalTime
        self.reset(2)

But here, it’s just checking between 2 assets from what i understand (the green block and the sphere). I want to check for all assets in my scene (basically here, the sphere should spawn and if it overlaps any asset when spawn, it should be detected).

Furthermore, when I pass the arguments (carb) of my asset to the function, I have the feeling that the function detects it itself as a (logical) asset but I would like to test that my asset which has just appeared is not in contact with other assets and therefore ignore it in the analysis.

Thanks for your help