Object simulation incorrect with IsaacGym

Autonomous Machines Robotics - Isaac Isaac Gym
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1

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.

tray_obj
tray_obj794×523 4.65 KB

tray_grasp
tray_grasp1600×937 157 KB

<?xml version="1.0" ?> 
<collision>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <mesh filename="tray_handle.obj"/>
  </geometry>
</collision>
2

tray.urdf (693 Bytes)
This is the correct urdf file.

3

Can you please clarify, what exactly is wrong with the simulation? Did you perform convex decomposition of the tray in your code?