Add physics to a mesh from py code

Omniverse Isaac Sim
,
1

Hi
I’m writing an extension for IsaacSim.
How can I add physics to a mesh (like with right click > Physics > Rigid Body with Colliders Preset) from my py code?

2

this should help:

https://docs.omniverse.nvidia.com/isaacsim/latest/how_to_guides/environment_setup.html#enable-physics-and-collision-for-a-mesh

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3

Thank you, Simplychenable
I solved my problem like this:

        from pxr import UsdPhysics
        stage = omni.usd.get_context().get_stage()

        pp_box = '/Box'
        cubeGeom = UsdGeom.Cube.Define(stage, pp_box)
        cubeGeom.CreateSizeAttr(0.4)
        cubeGeom.AddTranslateOp().Set(Gf.Vec3f(28.4, 59.52, 2.05))
        cubeGeom.AddScaleOp().Set(Gf.Vec3f(1))

        prim = stage.GetPrimAtPath(pp_box)
        UsdPhysics.RigidBodyAPI.Apply(prim)
        UsdPhysics.CollisionAPI.Apply(prim)
        UsdPhysics.MassAPI.Apply(prim)
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