I was trying to add a tray (which is made of a cylinder and a box) in my environment in IsaacGym. But after I render the scene, I found that the tray is simulated incorrectly. How do I solve the problem? Here are my visualization results for the obj file and the simulated results. I will also attach my urdf file.
<collision> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="tray_handle.obj"/> </geometry> </collision>