[Question] How do I efficiently load usd assets to my simulation?

[Neerka]

Hi,
Me and my team are trying to prepare procedural terrain generation for our simulation. The abstract generation of terrain structure itself works fine and we even got to see our generated ground. Though, we have issues importing assets to our simulation.

We have our assets in .usd format and when we try to load it, only the mesh is imported, even though the files have other things specified (as textures, materials, physical properties, etc.). We create prims from said .usd files using create_prim() function. We'd like to use AssetBaseCfg and RigidBodyCfg to load those objects properly, so create_prim() is a temporary measure. We need those to use spawners, so that we could quickly spawn assets on correct coordinates.

We tried to import assets using aforementioned config classes, but we encountered an unexpected problem of insufficient data in our files, as said before. This forced us to plug in USD APIs "by hand" to each prim (and also we have to use handmade colliders - bounding boxes), so that our simulation could somehow work.

So my question is:

How do I load .usd assets to my scene, using config classes to create correct prims?

I couldn't find any solution to this problem, so I hope someone'll share some knowledge with us.
Thank you in advance.

[RandomOakForest]

Thanks for posting this. Could you possibly share a USD file that you have tried and only imports the mesh? it would be helpful to begin with a specific example. Have you tried using "Save Flattened As..." in Isaac Sim? Thanks.