I’m currently working on a custom scene based on the Offline Dataset Generation example that needs to use custom usd assets. I ran into some issues with physics in Isaac Sim and my custom assets, but was able to reproduce the same issue with standard nucleus assets.
If you use an asset other than the example, it will slip through the ground plane or the other collision objects (see video). The script to replicate the issue is also included. Comment out line 56 to switch to a nucleus asset for which the simulation doesn’t work.