Why PhysicsMaterial destroys the KLT bin?

I am running Isaac Sim 2022.1. I have this snippet

from omni.isaac.kit import SimulationApp

framerate_limit = 30
app_config = {
    "width": 780,
    "height": 440,
    "window_width": 1320,
    "window_height": 760,
    "headless": True,
    "renderer": "RayTracedLighting",
    "display_options": 3220,
simulation_app = SimulationApp(app_config)

simulation_app.set_setting("/app/window/drawMouse", True)
simulation_app.set_setting("/app/livestream/proto", "ws")
simulation_app.set_setting("/app/livestream/websocket/framerate_limit", framerate_limit)
simulation_app.set_setting("/ngx/enabled", False)

from omni.isaac.core.utils.extensions import enable_extension
from omni.isaac.core import World
from omni.isaac.core.prims.xform_prim import XFormPrim
from omni.kit.commands import execute
import omni.usd
from omni.isaac.core.utils.stage import get_current_stage
from omni.physx.scripts.utils import setRigidBody
from omni.isaac.core.materials import PhysicsMaterial
from omni.isaac.core.prims import GeometryPrimView
from omni.isaac.core.utils.prims import get_prim_path
from omni.kit.commands import execute
from pxr import Usd, UsdGeom


def apply_friction(parent_prim):
    physics_material = PhysicsMaterial("/Looks/friction_material", static_friction=10, dynamic_friction=10)
    for prim in Usd.PrimRange(parent_prim):
        prim_path = get_prim_path(prim)
        if prim.IsA(UsdGeom.Mesh) and not prim_path.endswith("/visuals"):
            view = GeometryPrimView(prim_path)

def add_pink_box(position):
    prim_path = "/small_KLT_visual_collision"
    prim = get_current_stage().GetPrimAtPath(prim_path)
    apply_friction(prim) # Try to comment and uncomment this line
    return prim

world = World(stage_units_in_meters=0.01)
ground_plane = world.scene.add_default_ground_plane()
XFormPrim(ground_plane.prim_path).set_local_scale([100] * 3)
add_pink_box([10, 10, 10])

while simulation_app._app.is_running() and not simulation_app.is_exiting():
    if world.is_playing() and world.current_time_step_index == 0:

If I run it, the pink KLT box (asset for Isaac Sim) is broken and the label which should be on a side is crossing the middle of the box.

However, commenting out the apply_friction function fixes it and the box is also a lot smaller (as it should be since the world uses centimeters and the asset is not rescaled). To see the box, zoom in a lot and continue zooming it, it will appear.

Can someone please explain this behavior?`

Hi @michal.stanik - someone from our team will review and provide answer to your question.

The right check would be if the prim has a Collision API:

for prim in Usd.PrimRange(parent_prim):
        prim_path = get_prim_path(prim)
        if prim.HasAPI(UsdPhysics.CollisionAPI):
            view = GeometryPrimView(prim_path)

Even when using prim.HasAPI(UsdPhysics.CollisionAPI) the box looks broken the same way