Hi, I am trying to do a simple simulation with a pair of rails (fixed) and two cylinders (rigid body) with colliders. On simulation start, I get a lot of error messages and the simulation stops. After that, Isaac Sim will not work properly and crash eventually. I am attaching the scene and the logfile.
I did another test with only one cylinder elevated a bit. Running the simulation, it does not crash, but when it lands on the rail, it wiggles strangely. When I move the cylinder during simulation (Shift-Mouse drag), the simulation crashes sometimes. This means, I get errors in the log and the simulation is interrupted. bogie_crash_220714_one_cylinder_.usd (712.0 KB)
It seems the problem has to do with the implementation of the custom geometry collider of cylinders. When I use a cylinder mesh with convex hull, the problem is at least less pronounced, if not gone. Unfortunately the convex hull approximation is too rough for a cylinder to smoothly roll on a surface.