Collision detection does not work for triangle mesh

[mwiebe]

I have problems setting up the collision correctly and I can’t figure out what the problem is.

Isaac Sim Version

4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

• Model: Quadro RTX 5000
• Driver Version:

Topic Description

Detailed Description

I imported two objects: A pipe and a long box with small indents for the pipes. I added Rigid Body with Collider presets to both. The convex hull for the box did not include the indents, so I changed the Collider-Type to triangle mesh.
The collision mesh now looks like it should work, but the pipe still won’t fall into the indent.

Steps to Reproduce

1. Open pipe-box-problem.usd
2. Run simulation
3. Watch the pipe fall onto an invisible box hull.

Screenshots or Videos

Additional Information

What I’ve Tried

I tried using different approximations (triangle mesh, convex hull, …), enabling and disabling Kinematics for both objects, changing around the contact offset and rest offset parameters.

Additional Context

The objects were converted to USD from DAE and STL and then imported into Isaac Sim.
Link to the file:
https://drive.google.com/file/d/1cR7E3FpnD0uo9uCgTdSKwtCC7nzDd5cB/view?usp=sharing

[VickNV]

Please check if this issue still exists in the newly released version 4.5.0.