How to Use Python Scripts from Isaac Sim in USD Composer

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Windows 10

GPU Information

  • Model: RTX2070 super

Topic Description

Hello,

I have developed some simulation logic and robot control functionality using Python in NVIDIA Isaac Sim. Now, I would like to know if it’s possible to reuse or integrate those Python scripts inside USD Composer (formerly known as Omniverse Create).

Specifically, I am wondering:

  • Can I run Isaac Sim-specific Python scripts (e.g., involving World, Articulation, Task, etc.) in USD Composer?
  • If not directly, is there a way to adapt Isaac Sim logic into USD Composer (e.g., via OmniGraph, Kit extensions, or scripting interfaces)?
  • Are there limitations in the USD Composer Python environment that prevent using isaacsim modules?
  • What is the recommended way to develop once in Isaac Sim and visualize or control in Composer?

Any guidance or best practices would be appreciated.
Thank you!

from omni.kit.scripting import BehaviorScript

import carb
import numpy as np
import os

from isaacsim.core.prims import SingleArticulation as Articulation
from isaacsim.core.prims import SingleXFormPrim as XFormPrim
from isaacsim.core.utils.numpy.rotations import euler_angles_to_quats
from isaacsim.core.utils.stage import add_reference_to_stage
from isaacsim.robot_motion.motion_generation import (
    ArticulationKinematicsSolver,
    LulaKinematicsSolver,
)
from isaacsim.core.prims import GeometryPrim
from isaacsim.core.utils.nucleus import get_assets_root_path
from isaacsim.robot_motion.motion_generation import interface_config_loader



class HH7(BehaviorScript):
    def on_init(self):
        self._kinematics_solver = None
        self._articulation_kinematics_solver = None

        self._articulation = None
        self._target = None



        # Add the Franka and target to the stage
        robot_prim_path = "/World/RobotArm/hh200l_robot_suction_color_01/hh200l"
        path_to_robot_usd = "C:/isaacsim/exts/isaacsim.robot_motion.motion_generation/motion_policy_configs/hh200l/hh200l_robot_suction/hh200l_robot_suction.usd"  

        # 스테이지에 로봇 추가
        # add_reference_to_stage(path_to_robot_usd, robot_prim_path)
        self._articulation = Articulation(robot_prim_path)

        a = self._articulation.get_joint_positions()
        # 목표물 추가 (Frame Prim)
        target_prim_path = "/World/target"
        add_reference_to_stage(
            get_assets_root_path() + "/Isaac/Props/UIElements/frame_prim.usd",
            target_prim_path
        )
        self._target = XFormPrim(target_prim_path, scale=[0.05, 0.05, 0.05])
        self._target.set_default_state(
            np.array([-36, 30, 1]),  # 목표 위치 (X, Y, Z)
            euler_angles_to_quats([0, np.pi / 2, 0])  # 목표 회전 (Yaw 90도)
        )

        # HH200l의 URDF 및 Lula 설정 파일 경로
        robot_description_path = "C:/isaacsim\exts/isaacsim.robot_motion.motion_generation/motion_policy_configs/hh200l/rmpflow_suction/hh200l_robot_description.yaml"
        urdf_path = "C:/isaacsim\exts/isaacsim.robot_motion.motion_generation/motion_policy_configs/hh200l/hh200l_robot_suction.urdf"
        self._kinematics_solver = LulaKinematicsSolver(
            robot_description_path = robot_description_path,
            urdf_path = urdf_path
        )

        print("Valid frame names at which to compute kinematics:", self._kinematics_solver.get_all_frame_names())

        end_effector_name = "link6"
        self._articulation_kinematics_solver = ArticulationKinematicsSolver(self._articulation,self._kinematics_solver, end_effector_name)

    def load_example_assets(self):
        # Add the Franka and target to the stage
        robot_prim_path = "/World/hh7"
        path_to_robot_usd = "C:/isaacsim/exts/isaacsim.robot_motion.motion_generation/motion_policy_configs/hh200l/hh200l_robot_suction/hh200l_robot_suction.usd"  

        # 스테이지에 로봇 추가
        # add_reference_to_stage(path_to_robot_usd, robot_prim_path)
        self._articulation = Articulation(robot_prim_path)
        a = self._articulation.get_joint_positions()
        # 목표물 추가 (Frame Prim)
        target_prim_path = "/World/target"
        add_reference_to_stage(
            get_assets_root_path() + "/Isaac/Props/UIElements/frame_prim.usd",
            target_prim_path
        )
        self._target = XFormPrim(target_prim_path, scale=[0.05, 0.05, 0.05])
        self._target.set_default_state(
            np.array([1, 1, 1]),  # 목표 위치 (X, Y, Z)
            euler_angles_to_quats([0, np.pi / 2, 0])  # 목표 회전 (Yaw 90도)
        )
        # Return assets that were added to the stage so that they can be registered with the core.World
        return self._articulation, self._target
    
    def setup(self):
        # HH07의 URDF 및 Lula 설정 파일 경로
        robot_description_path = "C:/isaacsim\exts/isaacsim.robot_motion.motion_generation/motion_policy_configs/hh200l/rmpflow_suction/hh200l_robot_description.yaml"
        urdf_path = "C:/isaacsim\exts/isaacsim.robot_motion.motion_generation/motion_policy_configs/hh200l/hh200l_robot_suction.urdf"
        self._kinematics_solver = LulaKinematicsSolver(
            robot_description_path = robot_description_path,
            urdf_path = urdf_path
        )

        print("Valid frame names at which to compute kinematics:", self._kinematics_solver.get_all_frame_names())

        end_effector_name = "link6"
        self._articulation_kinematics_solver = ArticulationKinematicsSolver(self._articulation,self._kinematics_solver, end_effector_name)

    def on_play(self):
        # """목표 위치를 따라 IK 실행"""
        # self.load_example_assets()
        # self.setup()
        target_position, target_orientation = self._target.get_world_pose()
        target_position = np.array([0.5, 0.0, 0.6])   # (예시값) 타겟 위치
        self._articulation.initialize()


    def on_stop(self):
        self.Sim_Time = 0


    def on_update(self, current_time: float, delta_time: float):
        pose_list = [
            (np.array([1.0, 0.0, 0.0, 0.0]), np.array([-37.29882, 28.30572, 0.3762])),
            (np.array([1.0, 0.0, 0.0, 0.0]), np.array([-37.56989, 28.03886, 0.97684])),
            (np.array([0.8362914, 0.27204004, 0.35653222, -0.31542945]), np.array([-36.86908, 28.290235, 1.5166066]))
        ]
        # 몇 초마다 pose 전환할지 설정
        switch_interval = 2.0

        # 몇 번째 pose를 쓸지 계산
        index = int(current_time // switch_interval) % len(pose_list)

        target_orientation, target_position = pose_list[index]

        robot_base_translation,robot_base_orientation = self._articulation.get_world_pose()
        self._kinematics_solver.set_robot_base_pose(robot_base_translation,robot_base_orientation)

        action, success = self._articulation_kinematics_solver.compute_inverse_kinematics(target_position, target_orientation)
        a = self._articulation_kinematics_solver.compute_end_effector_pose()
        if success:
            self._articulation.apply_action(action)
        else:
            carb.log_warn("IK did not converge to a solution.  No action is being taken")

This code is designed to move a robot arm to a target position using inverse kinematics in Isaac Sim. I would like to place the robot arm in USD Composer and have it respond to this code so that it moves accordingly.

Could you please help make this setup work in USD Composer?

2

To help us provide the best guidance, could you share a bit more about your goals for integrating your simulation logic or robot control scripts into USD Composer?

1 Like
3

Thanks, I updated it.

4

Sorry if my earlier response was unclear. Could you please share more about why you’d like to integrate your simulation logic or robot control into USD Composer?

1 Like
5

I was simply hoping to make use of the screen recording feature available in USD Composer

6

Could you share the relevant documentation page for the screen recording feature you’re referring to?

7

Hello!

We noticed that this topic hasn’t received any recent responses, so we are closing it for now to help keep the forum organized.

If you’re still experiencing this issue or have additional questions, please feel free to create a new topic with updated details. When doing so, we recommend mentioning or linking to this original topic in your new post—this helps provide context and makes it easier for others to assist you.

Thank you for being part of the NVIDIA Isaac Sim community.

Best regards,
The NVIDIA Isaac Sim Forum Team