Robot Preview: USD

Open OpenUSD robots and scenes in VS Code as a 3D view.

• .usd .usdc .usdz, and .usda through Reopen Editor With…
• Meshes, primitives and UsdPreviewSurface materials, following references, payloads, sublayers and variants across files, so Isaac Sim robot assets open with their links in place.
• A Stage panel listing every prim with its type and an eye to show or hide it; invisible prims and collision guides start hidden.
• Gaussian splats stored as ParticleField3DGaussianSplat (OpenUSD 26.03), e.g. scenes exported for Isaac Sim.
• Solid, wireframe and point display, up-axis selection, and vertex / face / splat counts.
• Orbit with the mouse, double-click to set the pivot, F to frame, W A S D to fly and Q E to turn; ? lists the controls.

Part of the Robot Preview series with Robot Preview: URDF & MJCF and Robot Preview: Mesh & Splat.

Built with three.js (its USD loader) and Spark by World Labs; follows the OpenUSD specification. Screenshot: the SO-101 arm by TheRobotStudio (Apache-2.0), converted from its URDF.