PBD-Rigid Coupling

[55155]

Hello,

I am currently conducting experiments where I couple a PBD solver with a rigid-body solver in order to place rigid bodies inside deformable objects. During these tests, the moment the PBD.cloth() entity touches the rigid body, the simulator’s screen turns completely black.

[visual]
https://github.com/user-attachments/assets/07ba9cf0-e0cf-41bd-9161-0ce81f237cc7

[particle]
https://github.com/user-attachments/assets/e75bfe4c-d603-4c77-9833-83ba9f12c79b

For the coupling, I implemented the code with reference to the existing Rigid–PBD example:

20251202.cloth_on_rigid1.mp4

examples/coupling/cloth_attached_to_rigid.py

1 . Why is this phenomenon occurring?

2 . To resolve this issue, would it be better to choose a different coupling method?

I attach the code and assets in order to reproduce the issue.

model.zip

Samplebag_test.py

Thank you.