About importing customized urdf into your usd file

[pppucbuc]

Hi, I wonder if I import my customized urdf into your usd file, how should I add buoyancy force to my boat so it can float on the water surface. Is it throught script or can be done in Isaac Sim GUI? Thanks for your time and consideration.

[leonlime]

you need to just import the code but you need to create or link the action graph files with your model.