ROS OpenUSD Interoperability Compliance Checker
[!NOTE] This project is a proof of concept developed using agentic coding.
Validate OpenUSD assets against REP-0158 interoperability rules for simulation, ROS integration, and export portability.
[!TIP] Run the checker on any asset without cloning*:
uvx --from ros-openusd-compliance-checker usd-check <asset.usd>* uv must be installed first:
curl -LsSf https://astral.sh/uv/install.sh | sh
Installation
pip install ros-openusd-compliance-checker
Usage
usd-check [OPTIONS] ASSET
By default only the core checks run (REP §1 and §2: units, structure,
physics, and the five base ROS schemas — RosContextAPI, RosTopicAPI,
RosServiceAPI, RosActionAPI, RosFrameAPI).
| Flag | What it adds |
|---|---|
| (default) | §1 units/structure/physics + §2 core ROS schemas |
--extensions |
§4 extension schemas: ExtendedPhysics*, RosControl* |
--export |
§3 export/conversion checks (mesh, texture, material; slower) |
Flags are independent and can be combined:
# Core checks only (default)
usd-check robot.usda
# Core + extension schema checks
usd-check robot.usda --extensions
# Core + export checks
usd-check robot.usda --export
# Everything
usd-check robot.usda --extensions --export
Developer Setup
Install uv
curl -LsSf https://astral.sh/uv/install.sh | sh
Install repository
git clone https://github.com/ros-simulation/openusd-schemas.git
cd openusd-schemas/tools/compliance_checker
Install dependencies
uv sync --all-packages
Run tests
uv run pytest
Run pre-commit
uv run pre-commit
1 maintainer
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