How to add usd file (saved locally) into isaac sim via Standalone python application

[ksu1rng]

I have created a scene and saved it in usd file format. Now I want to load the scene into Isaac sim via standalone python .

I know its possible to load the usd file saved in localhost, but how to do this for a file saved in local folder.

To demonstrate the issue exactly I have created the following code:

from omni.isaac.kit import SimulationApp

simulation_app = SimulationApp({"headless": False})

from omni.isaac.core import World

from omni.isaac.core.utils.stage import open_stage

from omni.isaac.core.utils.nucleus import get_assets_root_path

assets_root_path = get_assets_root_path()

scene_path = assets_root_path + "/Isaac/Robots/Franka/franka_alt_fingers.usd"

# scene_path = "/home/ksu1rng/franka_alt_fingers.usd "

open_stage(usd_path=scene_path)

world = World()

world.reset()

while True:

world.step()

simulation_app.close()

This code is working if, I am accessing the usd file saved in localhost, but throwing error if saved in local folder.

[toni.sm]

Hi @ksu1rng

Two points:

• Make sure that the file path is well constructed (without spaces at the end)

• Some USD may depend on (reference) other USDs files (as in the case of franka_alt_fingers.usd). Simply downloading the main file is not enough. In this case it is necessary to collect all assets or save them flat (File > Save Flattened As… menu).

[ksu1rng]

hello,

I tried as you suggested, it worked.

Thanks :)