Importing scene created in Isaac Sim to Isaac Lab

[lrr]

Hi,

Is there any way to design a scene in Isaac Sim and then import it to Isaac Lab. In the Isaac Lab tutorials for scene creation it is explained how to spawn prims individually but let’s say that I have an usd file created with Isaac sim that has different objects (e.g. primitives with rigid body properties). Can I somehow I load this usd file in my Isaac Lab python script so I can use all the objects defined in the scene (with their corresponding properties like position, rotation or physics) in my simulation environment?

The alternative would be to spawn the objects individually using the InteractiveSceneCfg class but that would require to set all the objects properties in the code with is a laborious process when you have a scene with several objects.

[toni.nv]

Hi @lrr

For the Direct workflow, you can define in the env config the asset configuration:

    my_asset: AssetBaseCfg = AssetBaseCfg(
        prim_path="/World/scene/my_asset",
        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.0, 0.0], rot=[1.0, 0.0, 0.0, 0.0]),
        spawn=UsdFileCfg(usd_path="PATH_TO_MY_USD.usd"),
    )

Then, in the environment def _setup_scene(self): method, you can instantiate it:

assert_cfg = self.cfg.my_asset
assert_cfg.spawn.func(
    assert_cfg.prim_path, assert_cfg.spawn, translation=assert_cfg.init_state.pos, orientation=assert_cfg.init_state.rot,
)

[lrr]

Thanks for your response!