[Bug Report] RigidObjects jump to center of world

[fhndan89]

Hello,

I discovered the following bug.
Then I toggle the visbility from rigid objects in the usd tree, all of the rigid objects jump to the position [0.0, 0.0, 0.0] and orientation [1.0, 0.0, 0.0, 0.0]. The same thing happens, if I move the pose with the command:
self.bodies.write_root_pose_to_sim(root_pose=data[indices], env_ids=indices)
Regarding using the command. During debugging, the pose is correct in the IsaacLab backend. It is "just" the visualisation in IsaacSim.

It only effects rigid objects generated from a stl file which are part of an InteractiveSceneCfg. Articulations and rigid object outside the InteractiveSceneCfg (created with a cloner) are not influenced by the bug.
Following some images for a better understanding
First the original scene (I deactivated the articulation here, since it is not important).

Now with the deactivated view for a single bin in IsaacLab2.1/IsaacSim.4.5.

And the same scenario in IsaacLab2.2/IsaacSim5.0. The cubes are just additional rigibd objects created with a CuboidCfg.

And finally with invisble environments, to show that the bins are moved as well.

Do you need additional information?

Thanks for the help.

[PeterL-NV]

Did you try to convert your STL file to USD with mesh_converter.py to see if you still have the issue?

[fhndan89]

Yes I did. All elements are created with the mesh converter.