How to real-time render the Usd.Stage, recorded by Mujoco.usd.exporter?

[wkoa]

Intro

Hi!

I am a researcher , I use MuJoCo for my research on robotic manipulation.

My setup

MuJoCo version is 3.3.7
API is Python
OS: Ubuntu 22.04 LTS

My question

It is possible to real-time render the Usd.stage created in Mujoco.usd.exporter?
`
def _initialize_usd_stage(self):
"""Initializes a USD stage to represent the mujoco scene."""
self.stage = Usd.Stage.CreateInMemory()
UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
self.stage.SetStartTimeCode(0)
# add as user input
self.stage.SetTimeCodesPerSecond(60.0)

default_prim = UsdGeom.Xform.Define(
    self.stage, Sdf.Path("/World")
).GetPrim()
self.stage.SetDefaultPrim(default_prim)

`

I have tried to override the stage by
import omni.usd self.stage = omni.usd.get_context().get_stage()
but it does not work.

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.