Add USD scene tools #8
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This commit introduces 5 new utility functions for interacting with USD scenes in Isaac Sim: list_prims() — enumerate all prims in the stage open_usd() — load a USD file as the main stage import_usd() — import USD files at a custom pose get_object_info() — retrieve detailed transform + type move_prim() — move prims using various rotation formats
cuericlee
reviewed
Jul 28, 2025
| @@ -302,6 +302,11 @@ def _execute_command_internal(self, command): | |||
| "generate_3d_from_text_or_image": self.generate_3d_from_text_or_image, | |||
| "transform": self.transform, | |||
| "search_3d_usd_by_text": self.search_3d_usd_by_text, | |||
| "list_prims": self.list_prims, | |||
| "open_usd": self.open_usd, | |||
| "import_usd": self.import_usd, | |||
There was a problem hiding this comment.
move all usd related method into usd.py
https://github.com/omni-mcp/isaac-sim-mcp/blob/main/isaac.sim.mcp_extension/isaac_sim_mcp_extension/usd.py#L370
| "traceback": traceback.format_exc() | ||
| } | ||
|
|
||
| def import_usd(self, usd_path: str, prim_path: str = None, position: List[float] = None, orientation: List[float] = None, orientation_format: str = "degrees") -> Dict[str, Any]: |
There was a problem hiding this comment.
| return f"Error listing prims: {str(e)}" | ||
|
|
||
| @mcp.tool() | ||
| def open_usd(usd_path: str) -> str: |
There was a problem hiding this comment.
duplicated to load_usd() and consider to reuse load_usd instead.
| "traceback": traceback.format_exc() | ||
| } | ||
|
|
||
| def move_prim(self, prim_path: str, position: List[float] = None, orientation: List[float] = None, |
There was a problem hiding this comment.
reuse transform() method
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This commit introduces 5 new utility functions for interacting with USD scenes in Isaac Sim:
list_prims() — enumerate all prims in the stage
open_usd() — load a USD file as the main stage
import_usd() — import USD files at a custom pose
get_object_info() — retrieve detailed transform + type move_prim() — move prims using various rotation formats