USD To URDF Converter

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A tool for converting USD files to URDF.

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See the documentation for detailed information.

Quick Start

Installation

Use pip to install this Python distribution from the PYPI package registry (https://pypi.org/project/nvidia-srl-usd-to-urdf/).

pip install nvidia-srl-usd-to-urdf

USD To URDF Command Line Interface (CLI)

Use the usd_to_urdf CLI to convert USD files to URDF from the command line.

usd_to_urdf -o <path to output URDF file> <path to input USD file>

For example to convert the UR10 USD file in the current directory to URDF do the following.

usd_to_urdf -o ur10.urdf ur10.usd

For a quick reference on the on the CLI options see the help print out.

usd_to_urdf -h

USD To URDF Python API

Use the USD to URDF Python API to convert USD files to URDF using Python.

from nvidia.srl.from_usd.to_urdf import UsdToURDF
UsdToUrdf.init_from_file("<path to USD file>").save_to_file("<path to URDF file>")

For example to convert the UR10 USD file in the current directory the URDF do the following.

from nvidia.srl.from_usd.to_urdf import UsdToURDF
UsdToUrdf.init_from_file("ur10.usd").save_to_file("ur10.urdf")

Complete API reference can be found in the documentation here.