Does isaac-sim have Api to customize importing USD scene file?

I read the isaac sim documents, and found several python api in isaac sim doc
I see the URDF importer extension, but haven’t sawn any api about UDF importer. So my QUESTION is : does isaac sim provide the ability to customize the USD importing? Which means I can do some extra preparing job and then I can use call the function to import the USD scene file.
If it does, then could you provide any guide or doc link about the implementation ? Much thanks.

There are python apis for importing 3D assets to USD.

There is a sample here Basic Samples — Omniverse Robotics documentation

There is a snippet here as well
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/python_snippets.html#convert-asset-to-usd

more documentation about importing assets:
https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_asset-importer.html#importing-files

Does this answer the question?

Thank you, I’ve seen these samples, but it seems these are about importing asserts from usd file. Maybe my question is not clear:
My purpose is that I want to interact with an encrypted usd file, which I can’t just directly load into isaac sim by clicking GUI buttons. That will surly fail, because Isaac sim can’t parse the customized file format.

Now I can write codes to decrypt it outside isaac-sim and then load it inside isaac-sim, but I think if I can put these work into isaac-sim plugin or extensions, it will be more secure and robust.

So I wonder is there a way to write some plugin or code to decrypt it and load it into the isaac -sim.

I see, yes you can write a custom extension. There is a hello world extension you can use as a template:


Extension docs:
https://docs.omniverse.nvidia.com/py/kit/docs/guide/extensions.html

You can also use the native python workflow to install your own pip packages and import other libraries.
So you can do any file decryption, write the file to a temporary location and then load the usd stage and continue.
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/sample_python_basic.html

thanks. These guides are helpful. will try to learn the steps to build an extension.

Trying to open the extension window, but then isaac-sim container crashed. Found the same issue in forum:

Is this problem fixed? I’m using version 2021.1.0