Collision / rigid body sim not working with different assets

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.

Maybe I’m just missing a detail here?

(I’m using Isaac Sim 2022.2.0 on Windows) (7.1 KB)

Hi @malikp

The /Isaac/Props/YCB/Axis_Aligned/003_cracker_box.usd asset has no colliders.

You can add collision property by wrapping the object as a GeoemtryPrim as follow

from omni.isaac.core.prims import GeometryPrim

# Wrap the prim into a geometry prim to enable collision shapes
box_geometry_prim = GeometryPrim(prim_path=str(box_prim.GetPrimPath()), collision=True)

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Thank you for the quick help!

Just for completeness, could you provide the full code snipped or script? I’m having trouble with my gravity…

Hi @malikp

Sure, it is just your script but with the changes integrated (7.3 KB)

1 Like

Thank you very much!

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