How to change the sub-object texture in a loaded usd file.

[kaijieshi7]

Hi, I load the usd file as following

room = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/room",
spawn = sim_utils.UsdFileCfg(
usd_path=f"/home/kaijie/Desktop/one_room.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
kinematic_enabled=True
),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(-9.5, -11, 0)),
)

Then, the I can get the room by 'room=env.scene['room']'.
My aim is to change the texture of table in the room. The table path is like 'room/table'.
How can I achieve this?

[RandomOakForest]

Thanks for posting this. Have you reviewed this Isaac Sim tutorial? By loading the room in Isaac Sim, you should be able to see the prim path of the table as you select the table of interest. Let us know if you need further help.

[kaijieshi7]

I use it, and get error: 'xxx' was deleted while being used by a shape in a tensor view class. The physics.tensors simulationView was invalidated.
2025-04-28 23:17:30 [34,630ms] [Error] [omni.physx.tensors.plugin] Simulation view object is invalidated and cannot be used again to call setDofActuationForces

[RandomOakForest]

Following up, you may be landing in a couple of issues. Avoid deleting prims mid-simulation unless absolutely necessary. If deletion is required, fully reset the simulation context afterward:

sim.reset()  # Reinitializes the simulation view

Also, holding references to PhysxView objects (e.g., robot.root_physx_view) after a scene reset or prim modification may cause a similar error. In that case, you will need to reacquire simulation views after structural scene changes:

# After prim deletion/reset
self._robot = self._scene.actors["robot"]
self._physx_view = self._robot.root_physx_view  # Refresh reference

I'll move this post to our Discussions section for following up.