Set the loaded .STEP file as a rigid body

Omniverse Isaac Sim
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I designed my own conveyor in SolidWorks and exported it as a .STEP file. I would like to follow the process described at this link to make my conveyor operational in Isaac Sim. After loading it into Isaac Sim, I used Add → Physics → Rigid Body with Colliders Preset to set it as a rigid body and selected the conveyor part in conveyorPrim for the ConveyorBelt. However, I noticed that in the hierarchy, the root directory of my loaded conveyor has Physics properties in the Property tab, but the subdirectories under the root do not. How can I configure my conveyor so that it operates correctly in Isaac Sim?

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Thank you for reaching out about your conveyor setup in Isaac Sim. To better understand and assist with your specific issue, could you please provide a screencast video demonstrating the problem? This would be extremely helpful.

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You should add Rigid Body with Colliders preset (and then later use to add the ConvetorBelt Action Graph) to the moving component of the conveyor (e.g. the belt prim, or its xform parent if it has multiple elements to use).
In OpenUSD specification we cannot have nested rigid bodies (for example a Prim A with a child Prim B, and both be rigid Bodies).

If you could provide a screensast showing your Stage tree we can provide more concrete directions.

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Thanks to VickNV and rgasoto, I have now simplified the file. The subdirectories of the CAD file include two parts: the frame and the belt. I have learned that I can directly set each subdirectory in the hierarchy as a rigid body, and I have set the belt prim in the ActionGraph. However, during the actual simulation, it does not function correctly—the belt and frame separate from each other. I am unsure how to configure it so that my conveyor can be simulated correctly in Isaac Sim. I have recorded a video of my setup process. Please refer to the link below:

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That’s good progress!
one note - You don’t need to make the frame of the conveyor a rigid body - then it won’t move on the screen
After that, on the belt, look at the properties panel for a checkbox that tells the rigid body should be Kinematic (see Rigid-Body Simulation — Omniverse Extensions latest documentation)
This allows the belt to function as a conveyor without leaving its location in world

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Thank you, rgasoto. With your suggestion, I have successfully managed to simulate the conveyor in Isaac Sim.

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