ISIM-1493 update frame imported asset

isaac-sim · Jul 31, 2024 · ba20067 · ba20067
1 parent 8af9bab
commit ba20067
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Showing 5 changed files with 24 additions and 3 deletions.
diff --git a/.gitignore b/.gitignore
@@ -19,3 +19,4 @@ PACKAGE-DEPS.yaml
 # Internal CI/CD files.
 /.teamcity
 /tools/ci
+.lastformat
diff --git a/.lastformat b/.lastformat
diff --git a/source/extensions/omni.importer.mjcf/config/extension.toml b/source/extensions/omni.importer.mjcf/config/extension.toml
@@ -3,7 +3,7 @@ reloadable = true
 order = 0
 
 [package]
-version = "1.1.0"
+version = "1.1.1"
 category = "Simulation"
 title = "Omniverse MJCF Importer"
 description = "MJCF Importer"
@@ -25,6 +25,7 @@ preview_image = "data/preview.png"
 "omni.kit.commands" = {}
 "omni.kit.window.extensions" = {}
 "omni.kit.window.property" = {}
+"omni.kit.viewport.utility" = {}
 
 [[python.module]]
 name = "omni.importer.mjcf"

diff --git a/source/extensions/omni.importer.mjcf/docs/CHANGELOG.md b/source/extensions/omni.importer.mjcf/docs/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+## [1.1.1] - 2024-07-10
+### Changed
+- Importer frames on imported asset when done through GUI.
+
 ## [1.1.0] - 2023-10-03
 ### Changed
 - Structural and packaging changes

diff --git a/source/extensions/omni.importer.mjcf/python/scripts/extension.py b/source/extensions/omni.importer.mjcf/python/scripts/extension.py
@@ -19,6 +19,7 @@
 from omni.client._omniclient import Result
 from omni.importer.mjcf import _mjcf
 from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
+from omni.kit.viewport.utility import get_active_viewport
 from omni.kit.window.filepicker import FilePickerDialog
 from pxr import Sdf, Usd, UsdGeom, UsdPhysics
 
@@ -335,14 +336,29 @@ async def import_with_clean_stage():
                 if upAxis == "Y":
                     carb.log_error("The stage Up-Axis must be Z to use the MJCF importer")
                 add_reference_to_stage()
+            return prim_path
 
     def _select_picked_file_callback(self, dialog: FilePickerDialog, filename=None, path=None):
         if not path.startswith("omniverse://"):
             self.root_path = path
             self.filename = filename
             if path and filename:
                 self._last_folder = path
-                self._load_robot(path + "/" + filename)
+                prim_path = self._load_robot(path + "/" + filename)
+                task = asyncio.ensure_future(omni.kit.app.get_app().next_update_async())
+                asyncio.ensure_future(task)
+                print("update")
+                viewport_api = get_active_viewport()
+                stage = viewport_api.stage
+                mpu = UsdGeom.GetStageMetersPerUnit(stage)
+                cam_path = viewport_api.camera_path
+                omni.kit.commands.execute(
+                    "FramePrimsCommand",
+                    prim_to_move=cam_path,
+                    prims_to_frame=[prim_path],
+                    aspect_ratio=1,
+                    zoom=0.05 * (self._models["scale"].get_value_as_float()),
+                )
             else:
                 carb.log_error("path and filename not specified")
         else: