How to bond a collision mesh to a visual mesh like urdf imported model?

Omniverse Isaac Sim
1

I try to bond a simple collision mesh to a complex custom visual mesh and expect the visual mesh will follow the collision mesh when I set the ground plane and click the play button. However, only the collision mesh falls and the visual mesh remains it original position.

What I try:

Set the visual mesh and collision mesh under the same Xfrom, not working

Isaac sim version: 4.2

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2

Does following Add Simple Objects — Omniverse IsaacSim on adding a collision property to the visual mesh help?

3

Yes, adding collision property to visual mesh works, but I want a more simple collision to do the simulation and keep the visual mesh, wondering if there is a way to reach it