Hi everyone,
I’m looking to import certain usd-files n times to put them into a box for a bin picking application. Regarding the automation of that task, I’d like to import and place the objects randomly using python. I already implemented the randomization of the positions, but unfortunatly I couldn’t find any examples/ functions to import objects with python code alone. Is there any function solving my problem?
Many thanks in advance!
You can add usd-files assets n-times as a reference to your stage using the AddReference method.
For example
import omni
stage = omni.usd.get_context().get_stage()
for i in range(10):
prim = stage.DefinePrim("/World/prim{}".format(i), "Xform")
prim.GetReferences().AddReference("omniverse://localhost/example.usd")
Welcome to the forums @christian.hoelzer! @toni.sm has provided the right solution. Let me know if that works for you or if you run into any further trouble.
Hi @toni.sm
That helped a lot, but now I got a problem adding for example translation to the object. I’m using the following code:
When executing the code I get the error message:
It seems as if the given translation can’t be realised for that certain object. I can fix that error by going the parts properties and disable the xformOP:transform(matrix4d) option and replacing it with any option containing the xformOP:translate() parameter. Then my code works as I want it to.
My question: Is there any better way to change positions of an imported object? Because my code works perfectly on any part I create manually within Omniverse Create.
Many thanks in advance
You can always remove all properties related to transformation and create and set those you need…
For example, for translation:
import omni
import random
from pxr import UsdGeom, Gf
stage = omni.usd.get_context().get_stage()
for i in range(10):
prim = stage.DefinePrim("/World/prim{}".format(i), "Xform")
prim.GetReferences().AddReference("omniverse://localhost/example.usd")
xformable = UsdGeom.Xformable(prim)
for name in prim.GetPropertyNames():
if name == "xformOp:transform":
prim.RemoveProperty(name)
if "xformOp:translate" in prim.GetPropertyNames():
xform_op_tranlsate = UsdGeom.XformOp(prim.GetAttribute("xformOp:translate"))
else:
xform_op_tranlsate = xformable.AddXformOp(UsdGeom.XformOp.TypeTranslate, UsdGeom.XformOp.PrecisionDouble, "")
xformable.SetXformOpOrder([xform_op_tranlsate])
xform_op_tranlsate.Set(Gf.Vec3d([(2 * random.random() - 1) * 200 for _ in range(3)]))
