Load custom USD format scene

[Goat-L]

Thanks for your great work! I am wondering if OmniGibson supports us to load a USD format scene instead of object for customizing tasks.

I designed a scene in Isaac Sim with different assets and properties. How can I load the scene to OmniGibson and implement the tasks like robots control?

[hang-yin]

@cgokmen should have a great answer for this question.

[cgokmen]

We don't support this right now. OmniGibson scenes are structured in a very particular way and it's difficult to fit external scenes into this paradigm. That said, we do have this as a lower priority item on our roadmap.

[cgokmen]

However, in our development branch currently, and in our releases going forward, we do support importing external objects. You will then be able to use these external objects to set up a scene. We expect to release this functionality later this month.