No Gravity

[TerenceXue-tech]

The USD file I imported into the environment is not affected by gravity, even though it has mass and is defined to be subject to gravity. I can also see that the default configuration of the environment includes gravity. Why is this happening?
#Flange-link Flange_link=RigidObjectCfg( prim_path="/World/Spacecraft/Flange_link", spawn=sim_utils.UsdFileCfg( usd_path=r"/home/xtc/IsaacLab/source/extensions/omni.isaac.lab_assets/data/Props/falan_link/falan_link.usd", scale=(0.1,0.1,0.1),#还可以定义材料 activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, rigid_body_enabled=True, kinematic_enabled=True,)), init_state=RigidObjectCfg.InitialStateCfg(pos=(0.8,-0.2,0.3)) )

[TerenceXue-tech]

GUI shows gravity

[kellyguo11]

Hi there, please set kinematic_enabled to False. Kinematic bodies are not simulated by physics - https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/extensions/runtime/source/omni.physx/docs/index.html#kinematic-body

[TerenceXue-tech]

Thanks a lot! It works.