[Question] Question title Importing customized .usd file and make it to be rigidbody

[3505473356]

Question

HI, I have imported a .usd file and set it to be rigid body, but it can not be set as rigid body.

-> CODE:

cfg = sim_utils.UsdFileCfg(
usd_path="~/Downloads/Cranfield.usd",
scale=(0.001, 0.001, 0.001),
rigid_props=sim_utils.RigidBodyPropertiesCfg(
rigid_body_enabled=True,
kinematic_enabled=True,
disable_gravity=False,
solver_position_iteration_count=8,
solver_velocity_iteration_count=0,
sleep_threshold=0.05,
stabilization_threshold=0.0025,
max_depenetration_velocity=1000.0,
),
)

cfg.func("/World/Objects/objects", cfg, translation=(0.0, 0.0, 1.0))

-> WARING:
2024-07-10 13:52:02 [7,144ms] [Warning] [omni.isaac.lab.sim.utils] Could not perform 'modify_rigid_body_properties' on any prims under: '/World/Objects/objects'. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths: ['/World/Objects/objects/Geometry/Cranfield_0/BolzenKlein_1_5', '/World/Objects/objects/Geometry/Cranfield_0/BolzenKlein_2_7', '/World/Objects/objects/Geometry/Cranfield_0/BolzenKleinEckig_1_8', '/World/Objects/objects/Geometry/Cranfield_0/BolzenKleinEckig_2_10']

[xxje-library]

Do you know how to solve the problem now

[mickeyouyou]

Do you have any latest progress?

[lopatovsky]

The failed function 'modify_rigid_body_properties' which is modifying the RigidObject some values specified in config (e.g rigid_body_enabled, kinematic_enabled).
For this to work, you need to apply RigidBodyAPI to representation of your rigid object in the usd