How can I set gravity for a USD model through the GUI?

[2942465016]

Hello, I have two questions:

1. I downloaded a URDF file from this URL: ros_kortex/kortex_description/arms/gen3/7dof/urdf at noetic-devel · Kinovarobotics/ros_kortex · GitHub and converted it to USD format. However, when I import the URDF into Isaac Sim 4.2.0, how can I set gravity through the GUI? (I mean, after starting the simulation, the robotic arm shouldn’t fall to the ground.)
   

2. When I load the Gen3 robotic arm in Isaac Sim using the following method, the arm appears blank, and I can’t see the model of the arm. Could you help me understand why this is happening?
   

   

Isaac Sim Version

4.2.0

Operating System

Windows 11

[VickNV]

@2942465016

I downloaded a URDF file from this URL: ros_kortex/kortex_description/arms/gen3/7dof/urdf at noetic-devel · Kinovarobotics/ros_kortex · GitHub and converted it to USD format. However, when I import the URDF into Isaac Sim 4.2.0, how can I set gravity through the GUI? (I mean, after starting the simulation, the robotic arm shouldn’t fall to the ground.)

Does the information in Environment Setup and Rigid Body help with this issue?

@2942465016

When I load the Gen3 robotic arm in Isaac Sim using the following method, the arm appears blank, and I can’t see the model of the arm. Could you help me understand why this is happening?

Can you provide more details about the issue? I can see the Gen3 Xform after I created it.