Import self-created model in isaccsim reinforcement learning with error 'Invalid prim' null prim'

Thank you for taking the time to read. I have two questions

  1. How to check the validity of prim
  2. The usd file cannot be uploaded, I uploaded the screenshot, is it the location of my joint or some other problem
    If you need me to upload anything else, please let me know
    Uploading: 1.png…

Uploading: 2.png…

Hi @qthshiyuetian - Here’s the documentation on how to inspect physics for the robot and a tutorial link:

Also, since you are using the asset for the Reinforcement learning, this document will be useful to you: 9.7. Instanceable Assets — Omniverse IsaacSim latest documentation

Please review these docs, and let us know if you have any follow-up questions.