Metadata-Version: 2.4
Name: nvidia-srl-usd-to-urdf
Version: 1.0.3
Summary: A tool to convert from USD to URDF.
Author: NVIDIA Seattle Robotics Lab
License-Expression: Apache-2.0
Project-URL: Homepage, https://gitlab-master.nvidia.com/srl/py/usd_to_urdf/-/blob/main/README.md
Project-URL: Documentation, https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf
Project-URL: Repository, https://gitlab-master.nvidia.com/srl/py/usd_to_urdf
Project-URL: Issues, https://gitlab-master.nvidia.com/srl/py/usd_to_urdf/-/issues
Project-URL: Changelog, https://gitlab-master.nvidia.com/srl/py/usd_to_urdf/-/blob/main/CHANGELOG.md
Keywords: docker
Platform: any
Classifier: Operating System :: OS Independent
Classifier: Intended Audience :: Developers
Classifier: Natural Language :: English
Classifier: Programming Language :: Python :: 3
Classifier: Framework :: Robot Framework :: Library
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License-File: LICENSE
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Dynamic: license-file

# USD To URDF Converter

<h4>
    <a href="https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/">Homepage</a> (
    <a href="https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/getting_started.html">Getting Started</a> |
    <a href="https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/cli.html">CLI</a> |
    <a href="https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/examples.html">Examples</a> |
    <a href="https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/contributing.html">Contributing</a> |
    <a href="https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/api.html">API Reference</a> )
</h4>

A tool for converting USD files to URDF.

Convert this
![UR10 USD](docs/media/ur10_usd.png "Screenshot of UR10 USD"){height=500px}
to this
![UR10 URDF](docs/media/ur10_urdf.png "Screenshot of UR10 URDF"){height=500px}

See the [documentation](https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/) 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.

```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.

```python
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](https://srl.gitlab-master-pages.nvidia.com/py/usd_to_urdf/api.html).
