load

Load 3D models or actors into 3D environment

Since R2024a

Syntax

load(world,source)

Description

load(world,source) loads the 3D models or actors in the source to the 3D environment specified by world.

Input Arguments

world — World object

sim3d.World object

World object that defines the 3D environment, specified as a sim3d.World object.

Example: world = sim3d.World()

source — Name of location from where source file is loaded

character array

Name of location from where source file is loaded, specified as a character array. The source can be a file path or file name. load supports these as sources.

File Formats

• MAT (MAT file from MATLAB^®)

• WRL (Virtual Reality Modeling Language)

• USD, USDA, USDC (Universal Scene Description)

The actors imported from USD files are not compatible with collision detection. To export and simulate RoadRunner scene in USD format, see Simulate in RoadRunner Scene.

Note

USD file import is not supported on Linux^®.

More About

Simulate in RoadRunner Scene

To export a RoadRunner scene in USD format, see Export to USD (RoadRunner). When you export the scene, select these options in the Export USD dialog box:

• Split by Segmentation

• Power Of Two Texture Dimensions

• Export Only Highest LODs

Selecting these options enables compatibility with semantic segmentation, optimizes system performance, and provides high-quality rendering of objects in the 3D environment with mesh improvement and high level of details. The RoadRunner scene in the USD file also requires these metadata files:

• XML (.rrdata.xml) file for semantic segmentation in Simulation 3D Camera and Simulation 3D Lidar blocks

• ASAM OpenDRIVE^® (.xodr) file for the Simulation 3D Vision Detection Generator block to generate detections using object data and lane ground truth data

To export the metadata files, use the option CARLA Filmbox in Export Using CARLA Filmbox (RoadRunner).

Version History

Introduced in R2024a

R2025a: Import scene

The load function supports these source files.

• WRL (Virtual Reality Modeling Language)

• Universal Scene Description (.usd, .usdc, or .usda)

You can import RoadRunner scene using USD file.