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I have created a pseudo-cube that can be inverted--with parenting and rotations--to display a surprising inside.

I also would like to make the cube interact with a plane it falls on.

I can see that when I try to make the sides of the cube Rigid Bodies, I get the following message for some of them: "Rigid Body can't be child of a non compound Rigid Body."

And the animation does not work so good from then on. How can I fix that?

See blend file if needed...

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As the error says:

enter image description here

Either you make your parent a compound rigid body or you unparent your other rigid bodies.

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