How to use Isaac sim environments assets in Isaac Lab

[LuisRodriguezRuiz]

Hi,

Is it possible to import the predefined environments assets available in Isaac Sim (e.g. the warehouse environment) into Isaac Lab? Since they are assets defined in usd files I was wondering if I could use the InteractiveSceneCfg class to load the assets into the scene? If so, how can I do it? I mean, I know how to create specific assets like a rigid body but not sure how I could load a whole scene defined in a .usd file.

[kellyguo11]

This tutorial might be helpful for you - https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/policy_inference_in_usd.html

[LuisRodriguezRuiz]

Very helpful indeed.

Thanks.