Metadata-Version: 2.1
Name: nvidia_srl_usd_to_urdf
Version: 0.6.0
Summary: A tool to convert from USD to URDF.
Author: NVIDIA Seattle Robotics Lab
License: Copyright (c) 2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
        
        NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
        property and proprietary rights in and to this material, related
        documentation and any modifications thereto. Any use, reproduction,
        disclosure or distribution of this material and related documentation
        without an express license agreement from NVIDIA CORPORATION or
        its affiliates is strictly prohibited.
        
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: Topic :: Scientific/Engineering :: Robotics
Requires-Python: >=3.8
Description-Content-Type: text/x-rst
License-File: LICENSE
Requires-Dist: lxml <5.0.0,>=4.9.2
Requires-Dist: nvidia-srl-base >=0.10.0
Requires-Dist: nvidia-srl-math >=0.9.0
Requires-Dist: nvidia-srl-usd >=0.14.0
Requires-Dist: numpy >=1.21.5
Requires-Dist: setuptools-scm <9.0.0,>=8.0.0
Requires-Dist: usd-core <24.00,>=21.11
Provides-Extra: ci
Requires-Dist: anybadge ==1.8.0 ; extra == 'ci'
Requires-Dist: black ==22.6.0 ; extra == 'ci'
Requires-Dist: build ==1.0.3 ; extra == 'ci'
Requires-Dist: docutils ==0.20.1 ; extra == 'ci'
Requires-Dist: graphviz ==0.19.1 ; extra == 'ci'
Requires-Dist: flake8 ==7.0.0 ; extra == 'ci'
Requires-Dist: flake8-copyright ==0.2.4 ; extra == 'ci'
Requires-Dist: flake8-docstrings ==1.7.0 ; extra == 'ci'
Requires-Dist: flake8-isort ==6.1.1 ; extra == 'ci'
Requires-Dist: flake8-rst-docstrings ==0.3.0 ; extra == 'ci'
Requires-Dist: flake8-pyproject ==1.2.3 ; extra == 'ci'
Requires-Dist: mypy ==1.7.0 ; extra == 'ci'
Requires-Dist: pep8-naming ==0.13.2 ; extra == 'ci'
Requires-Dist: pytest ==6.2.5 ; extra == 'ci'
Requires-Dist: pytest-cov ==3.0.0 ; extra == 'ci'
Requires-Dist: sphinx ==7.2.6 ; extra == 'ci'
Requires-Dist: sphinx-rtd-theme ==2.0.0 ; extra == 'ci'
Requires-Dist: sphinx-copybutton ==0.5.2 ; extra == 'ci'
Requires-Dist: twine ==3.7.1 ; extra == 'ci'
Provides-Extra: dev
Requires-Dist: ipdb ; extra == 'dev'
Requires-Dist: ipython ; extra == 'dev'
Requires-Dist: nvidia-srl-dock ; extra == 'dev'

# 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 the Python distribution from the project's Python package registry.

NOTE: `username` is your Gitlab username, and `token` is a [Gitlab personal access token](https://docs.gitlab.com/ee/user/profile/personal_access_tokens.html) with at least api and read_api scope.
```
pip install --extra-index-url https://<username>:<token>@gitlab-master.nvidia.com/api/v4/groups/4131/-/packages/pypi/simple 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.sr.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.sr.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).
