sofas/create_arnold_rigid.py

"""
Script to create Arnold_rigid.usd with proper RigidBody API
Run this in Isaac Sim's Script Editor (Window > Script Editor)

Instructions:
1. Open Isaac Sim
2. Window > Script Editor
3. Copy and paste this entire script
4. Click "Run" button
"""

from pxr import Usd, UsdGeom, UsdPhysics

# Paths - MODIFY THIS to your actual path
arnold_usd = "/home/hcl4070-1/Desktop/taowen/projects/isaaclab_twist2_g1/assets/sofas/Arnold.usd"
output_usd = "/home/hcl4070-1/Desktop/taowen/projects/isaaclab_twist2_g1/assets/sofas/Arnold_rigid.usd"

# Create new stage
stage = Usd.Stage.CreateNew(output_usd)

# Set stage metadata
UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
UsdGeom.SetStageMetersPerUnit(stage, 0.01)

# Create root xform
arnold_xform = UsdGeom.Xform.Define(stage, "/Arnold")
arnold_prim = arnold_xform.GetPrim()

# Set as default prim
stage.SetDefaultPrim(arnold_prim)

# Add reference to original Arnold.usd - use relative path
arnold_prim.GetReferences().AddReference("./Arnold.usd")

# Apply RigidBody API
rigid_body_api = UsdPhysics.RigidBodyAPI.Apply(arnold_prim)
rigid_body_api.CreateRigidBodyEnabledAttr().Set(True)
rigid_body_api.CreateKinematicEnabledAttr().Set(True)

# Apply CollisionAPI to the root
collision_api = UsdPhysics.CollisionAPI.Apply(arnold_prim)

print(f"✓ Created {output_usd}")
print(f"✓ Root prim: {stage.GetDefaultPrim().GetPath()}")
print(f"✓ Applied APIs: {arnold_prim.GetAppliedSchemas()}")

# Save
stage.GetRootLayer().Save()
print("✓ File saved successfully!")
print("\nNow you can use this USD file with RigidObjectCfg in Isaac Lab")