"Using physics with Replicator" tutorial, objects flying away

[naltyc]

I’m trying to create synthetic data where I simply drop a bunch of objects onto a plane and record the scene. I started with the tutorial linked here https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/physics_example.html . However, when I run this code the objects all fly up shortly, then fling off in random directions. Sometimes they even suddenly change directions for seemingly no reason. Even if I set velocity and angular velocities all to 0 in the env_props function, and remove everything but one object from env_props this still happens.