Bug Description

Rigid bodies made from meshes all appear grey when written to USD in warp and loaded in Isaacsim.

Reason: USD seems to expect one color per vertex, warp gives one color per mesh.

Solution: Changing this line to

mesh.GetDisplayColorAttr().Set(colors * (len(indices) // 3), self.time)

fixes the issue for me. Probably, similar adaptions for primitives with multiple vertices would also be necessary.

Screenshots show before and after in Isaacsim.

Edit: The hotfix is problematic bc. for large meshes, creating a list with duplicated colors like that will cause high memory consumption.