[Question] Creating Scenes for Isaac Sim

[arhanjain]

Question

What's the best practice for setting up a USD scene for learning? Say I have a USD that just represents a mesh, and I want it to have collisions, and also have some articulations on drawers and cabinets and such. What's the best Cfg to use to load it in, and how can I prep that USD file to be simulation-ready? Currently when I try loading it in as a RigidObject via Python, it spawns rotated, despite spawning normally when I import it from the GUI. What would I use to setup the joints and stuff for articulation as well? I've seen many resources for bringing simulation-ready USDs into IsaacLab, but not much on creating such simulation ready assets. Any help is appreciated, thanks!

[XuHu0529]

Hi, I also have the same question. So have you found a good solution?

Thanks for your help!

[arhanjain]

hey @XuHu0529 yeah ive figured this stuff out now, whats your specific questions

[XuHu0529]

I wonder how can I add collisions, rigid-body and articulations for a given USD asset via Python in IsaacLab. Thank you very much!

[kellyguo11]

This can be done using USD APIs in Python - https://openusd.org/release/api/usd_physics_page_front.html. Alternatively, it may be easier to design the asset in the UI with Isaac Sim first before using them in Isaac Lab.