Analyzing USD Model in Omniverse Isaac Sim

[ryanyuen]

Hi,

I’m using Revit to create a 3D environment for mobile robot simulation and I’m able to import the USD model to Omniverse Isaac Sim through Revit connector. However before simulation I’m would also like to code up a module in C++/Python (preferrably C++) to do some analyses on the 3D model I just created (i.e., something similar to Actor enumeration & Actor property getters in UE4).

Does anyone have any idea on how to get access to actors/USD file components in code on Isaac Sim (or other apps on the Omniverse platform)? Thanks!

[WendyGram]

Hello @ryanyuen! I have moved you post to the IsaacSim discussion forum so that their team can respond to your question. I also alerted the developers. Thanks so much for reaching out to us!

[rgasoto]

Hello!

In the Window->Script Editor tab, there is a snippet that can help you accessing the stage component in Python.

That snippet will create the following code:

from pxr import Usd, UsdGeom
import omni.usd

stage = omni.usd.get_context().get_stage()
print(stage)

Stage is a pxr.Usd.Stage component, and its API documentation can be found here

In it you will find tools to traverse the stage and identify what prim is what, and so on.