Importing USD files from the training dataset into Isaacsim

[kirilllzaitsev]

Hi,
I'd like to ask if/how the current training dataset could be used with Isaacsim. At the moment, components of the scene.usd file cannot be imported:

2024-11-13 08:53:23  [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/objects/objaverse_a503ae2a7bdd43ada7f3bea3ae0a523f>: Could not open asset @/objaverse_usds/usds/000-070/a503ae2a7bdd43ada7f3bea3ae0a523f/model.usd@ for reference introduced by @/data/objaverse/5261765/85926019/scene.usd@</World/objects/objaverse_a503ae2a7bdd43ada7f3bea3ae0a523f>. (instantiating stage on stage @/data/objaverse/5261765/85926019/scene.usd@ <0x7fec28007790>)

I presume the steps to build the FoundationPose dataset included downloading Objaverse data with Objaverse 1.0 API and converting .glb -> .usd via the Asset Converter from the Omniverse stack.

[kirilllzaitsev]

Done in the way described in the question, the result is a bunch of objects stacked in the center of a scene. Each object has what appears to be a default size of the corresponding asset:

(states.json contains the same transforms that are already applied to objects)