omnigibson loading a custom .usd file will change the default attributes and cause the mesh not to show up

[johnbhlm]

You shoud start a vanilla Isaac Sim and open your custom USD file.
Then you will need to add Rigid Body API to each link of the object, and add Collision Body API to each collision mesh of each link.

Originally posted by @ChengshuLi in #973 (comment)

[johnbhlm]

Thank you for your reply.

When we add Rigid Body API to the object in a vanilla isaac sim, the steps as below:
1 open one_leg.usd file
2. select the object
3. add -->Physics -->Rigid Body with Colliders Preset
4. save the .usd file
as show the video
2024年10月15日 屏幕视频 19时07分52秒.webm

Then we can generate real collision effect in isaac sim, as show below:
2024年10月15日 屏幕视频 19时19分54秒.webm

Then we load it in omnigibson, the object becomes transparent, but the effect can be seen in the UI by displaying the physical collision, as shown in the video below:
Uploading 2024年10月15日 屏幕视频 14时45分20秒.webm…

Now I don't know if there is a problem adding the rigid body api in isaac sim or a problem loading the .usd in omnigibson or if there is a problem with the original .usd file that ultimately leads to incorrect results.

You can verify the result if you can, the original .usd file is here: https://github.com/clvrai/furniture-bench/tree/main/furniture_bench/assets/furniture/mesh/square_table

I hope to get your reply and guidance, thanks again~

[johnbhlm]

Hello.
I found that in the .usd file saved after adding the rigid collision api to an object in isaac sim, the visual ->Purposes for each mesh is default; as show the bellow image:

But when loaded in omnigibson, this property changes to guide, so that only the collision lines are visible, not the meshes. as show the bellow image:

So, did omnigibson do something to the .usd file that caused the property to change?

What should I do to keep the original properties?

Hope to get your reply and answer, thanks again.