How to import a .usd as terrain and scene

[jeferal]

Hi, I would like to import via the python API a photorealistic environment. The photorealistic scene is defined as a .usd. I can import it using for example:

terrain = TerrainImporterCfg(
        prim_path="/World/MatterPort",
        terrain_type="usd",
        usd_path="scene.usd",
        terrain_generator=None,
        collision_group=-1,
        physics_material=sim_utils.RigidBodyMaterialCfg(
            friction_combine_mode="multiply",
            restitution_combine_mode="multiply",
            static_friction=1.0,
            dynamic_friction=1.0,
            restitution=0.0,
        ),
        debug_vis=False,
    )

However, when I spawn the robot. The robot does not collide with this terrain. What's the way to fix this? Is there any point in the documentation that could help me?

[vick-yu]

Hi! The TerrainImporterCfg class you’re referencing isn’t part of the core Isaac Sim Python API—it’s specifically provided by the Isaac Lab framework, which extends simulation features for robot learning and custom environments.

For support, examples, and documentation on using TerrainImporterCfg and terrain import in Python (including collisions), please refer to the Isaac Lab GitHub repository:
https://github.com/isaac-sim/IsaacLab

You’ll find up-to-date tutorials on importing USD terrains and troubleshooting robot/environment interaction there. Feel free to post issues and questions directly in the Isaac Lab repo—that team is best equipped to provide in-depth guidance for these workflows!​

Hope this helps!

[jeferal]

Thanks a lot! Sorry for the missunderstanding. I'll ask in IsaacLab.