The grasp-sampling configuration sets every object’s mass to 1 g, but this setting does not take effect with the released assets. In Isaac Sim 5.1, the actual masses are:
| Object |
Actual mass |
| Peg |
54 g |
| Cube |
64 g |
| Cupcake |
346.9 g |
| Rectangle |
160 g |
| Square leg |
67.2 g |
| Drawer bottom |
92.9 g |
The assets are missing PhysicsMassAPI, which Isaac Lab requires to apply the mass setting. It therefore logs a warning and leaves the simulator to calculate mass from the object’s geometry.
Should the missing schema be added so grasp generation uses 1 g objects, or are the masses above the intended settings?
The grasp-sampling configuration sets every object’s mass to 1 g, but this setting does not take effect with the released assets. In Isaac Sim 5.1, the actual masses are:
The assets are missing
PhysicsMassAPI, which Isaac Lab requires to apply the mass setting. It therefore logs a warning and leaves the simulator to calculate mass from the object’s geometry.Should the missing schema be added so grasp generation uses 1 g objects, or are the masses above the intended settings?