init commit

workflows/simbox/tools/rigid_obj/make_rigid.py

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+import argparse
+
+from pxr import Usd, UsdPhysics
+
+
+def process(
+    usd_file,
+    add_rigid_body=True,
+):
+    """Add rigid body physics properties to a USD file.
+
+    Args:
+        usd_file: Path to the USD file.
+        add_rigid_body: Whether to add rigid body properties.
+    """
+    stage = Usd.Stage.Open(usd_file)
+    editor = Usd.NamespaceEditor(stage)
+    root_prim = stage.GetDefaultPrim()
+    aligned_prim = root_prim.GetAllChildren()[1]
+    try:
+        editor.RenamePrim(aligned_prim, "Aligned")
+        editor.ApplyEdits()
+    except Exception:
+        # If rename fails (e.g., already renamed), continue with existing prim
+        aligned_prim = stage.GetPrimAtPath("/World/Aligned")
+
+    aligned_prim = stage.GetPrimAtPath("/World/Aligned")
+
+    if add_rigid_body:
+        UsdPhysics.RigidBodyAPI.Apply(aligned_prim)
+
+        UsdPhysics.MassAPI.Apply(aligned_prim)
+        mass_attr = aligned_prim.GetAttribute("physics:mass")
+        mass_attr.Set(0.1)
+
+    stage.Save()
+    print(f"Successfully processed: {usd_file}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Add rigid body physics properties to USD file")
+    parser.add_argument("--usd_path", type=str, required=True, help="Path to the USD file")
+    args = parser.parse_args()
+
+    process(args.usd_path, True)