Loading .usd scene in standalone application

[email5]

Hi,
I created own app using users examples and I’m trying to rewrite example to standalone version. In the example, I load usd file with (I don’t know why I have to recreate new physics context, but without it it crashed):

omni.usd.get_context().open_stage(world_usd_file, None)
self._world = self.get_world()
self._world.reset()

self._world.reset()
self._world.clear_instance()
self._world.get_physics_context()._create_new_physics_scene("/World/physicsScene")

This is my standalone version, which doesn’t work:

from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False})

import omni
from omni.isaac.core import World

world = World()
omni.usd.get_context().open_stage(scene_path, None)
world.reset()
world.clear_instance()
world.get_physics_context()._create_new_physics_scene("/World/physicsScene")
while True:
    world.step()

simulation_app.close()

The error message is:

Exception: The Physics Context's physics scene path is invalid, you need to reinit Physics Context

What is the propper way tzo load .usd files? Thank you

[email5]

Finally got it! (solving this for whole day, but after I wrote to the forum I found the solution :D )
If somebody has simillar issue, I load usd file with this piece of code and it works:

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

open_stage(usd_path=scene_path)
world = World()

world.reset()
while True:
    world.step()

simulation_app.close()