object stack with environment

[Rabibabo]

The object I set up gets stuck in a strange position, as if there is a collision issue. The situation is shown in the picture.

The USD file and collision settings for the object are as follows:

but the USD file from the Isaacsim_asset("path ={ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/003_cracker_box.usd") will not occur this problem

scene setting code as follow

@configclass
class TableTopSceneCfg(InteractiveSceneCfg):
    #Configuration for a cart-pole scene.
    # ground plane
    ground = AssetBaseCfg(
        prim_path="/World/defaultGroundPlane",
        spawn=sim_utils.GroundPlaneCfg(),
        init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)),
    )
    # lights
    dome_light = AssetBaseCfg(
        prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
    )
    # mount
    table = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/Table",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"/home/robot/project/IsaacLab/YCBobj/table/table.usd", 
            scale=(1.0, 1.0, 1.0),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
                contact_offset=0.005,
                rest_offset=0.0,),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                rigid_body_enabled=True,
                disable_gravity=False,
                max_depenetration_velocity=10.0,
                # kinematic_enabled=True,
                solver_position_iteration_count = 32,
                solver_velocity_iteration_count= 8
            ),
            # activate_contact_sensors=True,
        ),
    )
    # articulation
    robot = UR5E_DH_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") # type: ignore
    camera = CameraCfg(
        prim_path="{ENV_REGEX_NS}/Robot/tool0/wrist_cam",
        update_period=0.02,
        height=480,
        width=640,
        data_types=["rgb", "distance_to_image_plane"],
        spawn=sim_utils.PinholeCameraCfg(
            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5), visible=True
        ),
        offset=CameraCfg.OffsetCfg(pos=(0.1, 0.0, 0.0), rot=(0.6830127,  -0.1830127, -0.1830127,  0.6830127), convention="ros"),
        
    )
    bin = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/Bin",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/KLT_Bin/small_KLT.usd", 
            scale=(1.5, 1.5, 0.5),
            mass_props=sim_utils.MassPropertiesCfg(mass=0.5),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                rigid_body_enabled=True,
                disable_gravity=False,
                max_depenetration_velocity=10.0,
                kinematic_enabled=True,
                solver_position_iteration_count = 32,
                solver_velocity_iteration_count= 8
            ),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
                contact_offset=0.01,
                rest_offset=0.0,),
            activate_contact_sensors=True,
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.1, 0.35, 0.05), rot=get_init_rot([0,0,0])),
    )
    # # objects
    banana = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/Banana",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"/home/robot/project/IsaacLab/YCBobj/ycb_usd/011_banana/011_banana.usd", 
            scale=(0.05, 0.05, 0.05),
            mass_props=sim_utils.MassPropertiesCfg(mass=0.01),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                rigid_body_enabled=True,
                disable_gravity=False,
                max_depenetration_velocity=10.0,
                kinematic_enabled=False,
                sleep_threshold=1e-5,
                stabilization_threshold=1e-6,
                solver_position_iteration_count = 32,
                solver_velocity_iteration_count= 8
            ),
            # physics_material = sim_utils.RigidBodyMaterialCfg(
            #     static_friction=0.5,
            #     dynamic_friction=0.5,
            #     restitution=0.0),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
                contact_offset=0.005,
                rest_offset=0.0,),
            # # activate_contact_sensors=True,
        ),
 
        init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.12, 0.45, 0.13), rot=get_init_rot(np.random.randint(0,180,3))),
    )

    meat_can = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/meat_can",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"/home/robot/project/IsaacLab/YCBobj/ycb_usd/010_potted_meat_can/010_potted_meat_can.usd", 
            scale=(0.05, 0.05, 0.05),
            mass_props=sim_utils.MassPropertiesCfg(mass=0.01),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                rigid_body_enabled=True,
                disable_gravity=False,
                max_depenetration_velocity=10.0,
                kinematic_enabled=False,
                sleep_threshold=1e-5,
                stabilization_threshold=1e-6,
                solver_position_iteration_count = 32,
                solver_velocity_iteration_count= 8
            ),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
                contact_offset=0.005,
                rest_offset=0.0,),
            # # activate_contact_sensors=True,
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.06, 0.38, 0.18), rot=get_init_rot(np.random.randint(0,180,3))),
    )

    bowl = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/bowl",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"/home/robot/project/IsaacLab/YCBobj/ycb_usd/024_bowl/024_bowl.usd", 
            scale=(0.05, 0.05, 0.05),
            mass_props=sim_utils.MassPropertiesCfg(mass=0.01),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                rigid_body_enabled=True,
                disable_gravity=False,
                max_depenetration_velocity=10.0,
                kinematic_enabled=False,
                sleep_threshold=1e-5,
                stabilization_threshold=1e-6,
                solver_position_iteration_count = 32,
                solver_velocity_iteration_count= 8
            ),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
                contact_offset=0.005,
                rest_offset=0.0,),
            # # activate_contact_sensors=True,
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.05, 0.38, 0.13), rot=get_init_rot(np.random.randint(0,180,3))),
    )
    mug = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/mug",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"/home/robot/project/IsaacLab/YCBobj/ycb_usd/025_mug/025_mug.usd", 
            scale=(0.05, 0.05, 0.05),
            mass_props=sim_utils.MassPropertiesCfg(mass=0.01),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                rigid_body_enabled=True,
                disable_gravity=False,
                max_depenetration_velocity=10.0,
                kinematic_enabled=False,
                sleep_threshold=1e-5,
                stabilization_threshold=1e-6,
                solver_position_iteration_count = 32,
                solver_velocity_iteration_count= 8
            ),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
                contact_offset=0.005,
                rest_offset=0.0,),
            # # activate_contact_sensors=True,
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.15, 0.40, 0.21), rot=get_init_rot(np.random.randint(0,180,3))),
    )
    cup = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/cup",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/003_cracker_box.usd", 
            scale=(0.1, 0.1, 0.1),
            mass_props=sim_utils.MassPropertiesCfg(mass=0.01),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                rigid_body_enabled=True,
                disable_gravity=False,
                max_depenetration_velocity=10.0,
                kinematic_enabled=False,
                sleep_threshold=1e-5,
                stabilization_threshold=1e-6,
                solver_position_iteration_count = 32,
                solver_velocity_iteration_count= 8
            ),
            collision_props=sim_utils.CollisionPropertiesCfg(
                collision_enabled=True,
                contact_offset=0.005,
                rest_offset=0.0,),
            # # activate_contact_sensors=True,
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.12, 0.48, 0.15), rot=get_init_rot(np.random.randint(0,180,3))),
    )

[Rabibabo]

Based on my observations over a longer period of time, it seems that the force response of objects in simulation is very slow. After a long period of time, the objects return to a normal posture. The entire process takes about two minutes. Is there anything that can speed this up?

[RandomOakForest]

Thank you for posting this. I'll move the post to our Discussions section for follow up. Please add a title to it. Thanks.