How to add physics to my own mesh with python code

Omniverse Isaac Sim
, ,
1

I hope to add physics to a mesh (like with right click > Physics > Rigid Body with Colliders Preset)
I have written some part of the code , but I meet some problems in the next steps, I find I always failed to add physics through the way in the documents . How can I add physics in python

import omni
import numpy as np
from pxr import Usd
from pxr import UsdPhysics
from omni.physx.scripts import utils
import omni.isaac.core.utils.stage as stage_utils
from omni.isaac.core.objects.ground_plane import GroundPlane
from omni.isaac.core.physics_context import PhysicsContext
import omni.isaac.core.utils.physics as physics_utils


PhysicsContext()
GroundPlane(prim_path="/World/groundPlane", size=10, color=np.array([0.5, 0.5, 0.5]))

usd_path = "/home/hym/Code/isaac_sim/book.usd"
prim_path = "/World/book"

stage_utils.add_reference_to_stage(usd_path, prim_path)

physics_utils.set_rigid_body_enabled(True, "/World/book")
2

@hyma6858 see if this thread helps point you in the right direction -