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File System

New/Clean Stage​


await omni.usd.get_context().new_stage_async()
await omni.kit.app.get_app().next_update_async()

Call with corountine:

asyncio.ensure_future(self._create_moveit_sample())

Open stage with USD file​

success, error = await omni.usd.get_context().open_stage_async(usd_path)
if not success:
    raise Exception(f"Failed to open usd file: {error}")

Close stage​

(result, err) = await omni.usd.get_context().close_stage_async()
# Assert result == True

Reopen stage​

(result, err) = await omni.usd.get_context().reopen_stage_async()

Save stage​

tmp_file_path = os.path.join(tmpdirname, "tmp.usda")
(result, err, saved_layers) = await omni.usd.get_context().save_as_stage_async(tmp_file_path)

# or
(result, err, saved_layers) = await omni.usd.get_context().save_stage_async()
# result == True

Export stage​

(result, err) = await omni.usd.get_context().export_as_stage_async(tmp_file_path)

Get Server​

from omni.isaac.core.utils.nucleus import find_nucleus_server
# import carb

result, nucleus_server_path = find_nucleus_server()
# if result is False:
#     carb.log_error("Could not find nucleus server with /Isaac folder")

Import asset .usd​

issac-sim​

from omni.isaac.core.utils.prims import create_prim

# Add a distant light
create_prim("/DistantLight", "DistantLight", attributes={"intensity":500})

# Add an object from server
create_prim(prim_path="/background", usd_path=self._nucleus_path + "/Isaac/Environments/Simple_Room/simple_room.usd")

# Add an asset from usd_path
prim = create_prim(prim_path = "/Mesh", usd_path=usd_path, scale = np.array([10,10,10]), semantic_label = "mustard")

create​

        omni.kit.commands.execute(
            "CreatePrim",
            prim_path="/World/defaultLight",
            prim_type="DistantLight",
            select_new_prim=False,
            attributes={pxr.UsdLux.Tokens.angle: 1.0, pxr.UsdLux.Tokens.intensity: 500},
            create_default_xform=True,
        )

get server and traverse files​

        default_server = carb.settings.get_settings().get("/isaac/nucleus/default")
        carb.log_info("default_server: " + str(default_server)) 

        path = "http://localhost:8080/omniverse://127.0.0.1/NVIDIA/Materials/"
        carb.log_info(f"Collecting files for {path}")
        result, entries = omni.client.list(path)
        for e in entries:
            print("result: ", e.relative_path)