Having trouble using usd ‘scale’

Omniverse Isaac Sim
1

After ‘usd’ is added to ‘World’ in ‘XFormPrim’ mode, the ‘scale’ parameter cannot be used to adjust the size, otherwise “PhysX error: Illegal BroadPhaseUpdateData” will be reported. Therefore, the object needs to be scaled down in the original USD file to be used normally. Supplement: USD is saved as ‘.usdz’ in ‘.usd’ format and then used. The code used is as follows:

stage_utils.add_reference_to_stage(usd_path="/xxx/teaspoon.usd", prim_path=spoon_prim_name)
self._teaspoon = scene.add(XFormPrim(prim_path=spoon_prim_name,
                                   name=spoon_name,
                                   position=self.spoon_position,
                                   scale=np.array([0.01, 0.01, 0.01])))

The ‘usdz’ and ‘usd’ files used are
spoon.zip (122.5 KB)

2

I have solved this question, because the usd has some problem. I change usd file, can use ‘scale’ normally.