scenic.simulators.isaac.usd_conversion

Conversion of USD stages/assets into meshes Scenic can reason about.

Summary of Module Members

Functions

`assetConvert`	Batch-convert the USD assets in `args.folders` to meshes (see `usd_to_mesh.py`).
`computeBbox`
`computeLocalMeshBbox`
`convertEnvironmentUsd`	Convert an environment USD into a mesh plus a JSON file of prim metadata.
`convertUsdToMesh`	Convert a USD to a mesh file at `mesh_path` via Isaac's asset converter.
`convertedDirForFolder`
`decomposeMatrix`
`flattenUsd`
`getMeshInfo`
`removeGroundPlane`	Write a flattened copy of the USD at `file_path` with any ground plane disabled.
`vec3ToList`

Member Details

removeGroundPlane(file_path, output_path)[source]

Write a flattened copy of the USD at file_path with any ground plane disabled.

The stage is flattened so that references and payloads of the asset are still resolved once the copy lives in a different directory.

convertUsdToMesh(backend, usd_path, mesh_path, *, load_materials=False)[source]

Convert a USD to a mesh file at mesh_path via Isaac’s asset converter.

The converter writes glTF with external buffers (and textures, if materials are loaded); the result is re-exported with trimesh into the single file named by mesh_path (e.g. foo.glb.bz2, see scenic.simulators.isaac.utils.writeMesh), keeping the node names.

convertEnvironmentUsd(usd_path, mesh_path, info_path, *, backend, load_materials=False, open_stage_func=None)[source]

Convert an environment USD into a mesh plus a JSON file of prim metadata.

The stage is flattened, every mesh prim is renamed to prim_N (so mesh node names are unique and can be mapped back to USD paths), and the JSON records each prim’s original path, world bbox, and dimensions.

assetConvert(args, backend)[source]: Batch-convert the USD assets in args.folders to meshes (see usd_to_mesh.py).

_describeGltf(gltf_path)[source]: Summarize a glTF file for error messages.