Mujoco has supported USD exporter via creating a Stage in memory. It's possible for IsaacSim to online render the Stage?

[wkoa]

exporter = mujoco.usd.exporter.USDExporter(env.model, camera_names=["top_down_cam"])
...
UsdUtils.StageCache.Get().Insert(exporter.stage)
identifier = exporter.stage.GetRootLayer().identifier

context = omni.usd.get_context()
context.open_stage(identifier)

for _ in range(30):
    simulation_app.update()

It does not work.

[michaellin6]

Hi @wkoa, thank you for posting your question. It is possible to load the exported usd during simulation:

   from isaacsim.core.utils.stage import add_reference_to_stage                                                                                                                                                                                                                                                                        
                                                                                                                                                                                                                                                                                                                                       
   # This works while sim is playing:                                                                                                                                                                                                                                                                                                  
   prim = add_reference_to_stage(                                                                                                                                                                                                                                                                                                      
       usd_path="/path/to/my_robot.usd",                                                                                                                                                                                                                                                                                               
       prim_path="/World/NewRobot"                                                                                                                                                                                                                                                                                                     
   )                                                                                                                                                                                                                                                                                                                                   
   # PhysX picks it up on next step                                                                                                                                                                                                                                                                                                    

What you cannot do is modify physics attributions in the prims after being loaded if simulation already started (i.e. world.reset, timeline.play already called).

[vick-yu]

Since we haven’t heard back in over two weeks, we’ll go ahead and close this discussion for now. If you’re still running into this issue or have more details to share, please feel free to reopen a new discussion or comment here and we can revisit it.