[Question] Creating Scenes for Isaac Sim

[arhanjain]

Question

What's the best practice for setting up a USD scene for learning? Say I have a USD that just represents a mesh, and I want it to have collisions, and also have some articulations on drawers and cabinets and such. What's the best Cfg to use to load it in, and how can I prep that USD file to be simulation-ready? Currently when I try loading it in as a RigidObject via Python, it spawns rotated, despite spawning normally when I import it from the GUI. What would I use to setup the joints and stuff for articulation as well? I've seen many resources for bringing simulation-ready USDs into IsaacLab, but not much on creating such simulation ready assets. Any help is appreciated, thanks!