Object simulation incorrect with IsaacGym

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.

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

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

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