Import USD files to isaac gym

Robotics & Edge Computing Robotics - Isaac Isaac Gym
1

Hi ,everyone. I 'm new about the isaac gym and I met a problem.

When I tried to import USD file into isaacgym,

asset_root = “…/…/assets”
asset_file = “playground_1.usd”
asset_options=gymapi.AssetOptions()
asset_options.fix_base_link = True
asset_options.armature = 0.01
panda_asset = gym.load_asset(sim, asset_root, asset_file,asset_options)

the error is ‘’ Failed to open stage’…/playgroud_1.usd’‘’.

But in offical docs"assets", I saw this words, which provide the method to import USD file.

image
image862×166 7.13 KB

Is there something wrong here?
Looking forward to your reply.

1 Like
2

Hi there,

We have not put our focus recently on the USD importer, please try using URDF or MJCF asset formats for best support.

3

Is there going to be support for USD anytime soon?

4

Import usd file to isaac gym available now …?

5

Hello,
So as I know there is no way to prepare models for Isaac Gym, except by manually editing mjcf xml. So the expected user flow is:

  1. Preparing models with meshes etc, using any CAD solutions. (or Blender)
  2. Importing models using Isaac Sim with meshes, joints etc. Making required modifications
  3. Uploading model with a few clicks into Isaac Gym, making some experiments with reach scenes with a lot of objects and meshes.

But the actual user flow is a lot of pain and manual work related to creating meshes and editing xml files

1 Like
6

@kellyg do you have any news about the USD import? It is a bit strange that you do not put “focus on the USD importer”, when in fact, the Isaac Sim works almost exclusively on .usd files. I am currently facing problems with importing .usd files with Isaac Gym Preview 3 and it seems to not be implemented at all. Any tips for a workaround? I need the .usd files because of closed loop in the articulation that I created using Isaac Sim 2022.1 and exported a USD, where one of the joints is expelled from articulation in order not to cause problems for the PhysX.