# NVIDIA SRL USD
A Python package for USD (Universal Scene Description) utilities, providing advanced prim manipulation, world structure management, and robotics scene integration capabilities.
This package integrates with NVIDIA SRL's robotics ecosystem and provides high-level wrappers for USD operations that are commonly needed in robot control, simulation, and scene management applications.
## Table of Contents
- [Overview](#overview)
- [Quick Start](#quick-start)
- [Installation](#installation)
- [Usage](#usage)
- [1. USD Stage Management](#1-usd-stage-management)
- [2. Prim Operations](#2-prim-operations)
- [3. World Structure](#3-world-structure)
- [4. Geometry Export](#4-geometry-export)
- [5. Physics Properties](#5-physics-properties)
- [6. Transform Operations](#6-transform-operations)
- [Examples](#examples)
- [Development](#development)
- [Setting up development environment](#setting-up-development-environment)
- [Running Tests](#running-tests)
- [Code Quality](#code-quality)
- [Building Package](#building-package)
- [Documentation](#documentation)
- [Configuration](#configuration)
- [Troubleshooting](#troubleshooting)
- [Common Issues](#common-issues)
- [Debug Mode](#debug-mode)
- [Performance](#performance)
- [License](#license)
- [Support](#support)
## Overview
The NVIDIA SRL USD package currently provides solutions for:
- **USD stage management** with efficient file loading and validation
- **Prim operations** for querying, filtering, and manipulating USD prims
- **World structure management** for robotics scenes and environments
- **Geometry export** capabilities for converting USD geometry to common formats
- **Physics properties** handling for simulation and robotics applications
- **Transform operations** for pose calculations and coordinate transformations
## Quick Start
1. **Install the package:**
```bash
pip install nvidia-srl-usd
```
2. **Basic USD stage usage:**
```python
from nvidia.srl.usd import prim_helper
from nvidia.srl.usd import world_structure
# Open a USD stage
stage = prim_helper.open_stage("path/to/scene.usd")
# Get world structure
world = world_structure.WorldStructure(stage)
# List all entity prims in the world
entities = world.get_entity_prims()
print(f"Found {len(entities)} entities in the world")
```
3. **Prim querying example:**
```python
from nvidia.srl.usd import prim_helper
# Get all camera prims in the stage
cameras = prim_helper.get_prims(
stage,
prim_types=["Camera"],
return_path=True
)
print(f"Available cameras: {cameras}")
# Get all prims with physics properties
physics_prims = prim_helper.get_prims(
stage,
has_apis=[prim_helper.UsdPhysicsRigidBodyAPI]
)
print(f"Physics objects: {len(physics_prims)}")
```
4. **Geometry export example:**
```python
from nvidia.srl.usd import prim_helper
# Export a prim's geometry as OBJ file
prim = stage.GetPrimAtPath("/world/table")
if prim_helper.is_object(prim):
prim_helper.export_geometry_as_obj_file(
prim,
"table.obj",
frame_time=0.0
)
print("Geometry exported successfully")
```
## Installation
### Prerequisites
- Python 3.7 or higher
- Gitlab access token for NVIDIA's package repository
- USD Core library (automatically installed as dependency)
### Install from PYPI.org
Use pip to install this Python distribution from the PYPI package registry (https://pypi.org/project/nvidia-srl-usd/).
```bash
pip install nvidia-srl-usd
```
### Install for Development
```bash
# Clone the repository
git clone ssh://git@gitlab-master.nvidia.com:12051/srl/py/usd.git
cd usd
# Set up development environment
make init
# Activate virtual environment
source .venv/3.10-py-usd/bin/activate
```
## Usage
### 1. USD Stage Management
The package provides utilities for opening and managing USD stages:
```python
from nvidia.srl.usd import prim_helper
# Open a USD stage from file path
stage = prim_helper.open_stage("scene.usd")
# Check if stage is valid
if stage:
print(f"Stage opened successfully: {stage.GetRootLayer().realPath}")
# Get default prim
default_prim = prim_helper.get_world_prim(stage)
print(f"Default prim: {default_prim.GetPath()}")
```
### 2. Prim Operations
Query and filter prims based on various criteria:
```python
from nvidia.srl.usd import prim_helper
# Get all prims matching a path pattern
table_prims = prim_helper.get_prims(
stage,
path_pattern=".*table.*",
return_path=True
)
# Get prims by type
mesh_prims = prim_helper.get_prims(
stage,
prim_types=["Mesh"]
)
# Get prims with specific APIs
rigid_body_prims = prim_helper.get_prims(
stage,
has_apis=[prim_helper.UsdPhysicsRigidBodyAPI]
)
# Check prim properties
for prim in mesh_prims:
if prim_helper.is_object(prim):
print(f"Object prim: {prim.GetPath()}")
if prim_helper.is_robot(prim):
print(f"Robot prim: {prim.GetPath()}")
```
### 3. World Structure
Manage world scenes and robotics environments:
```python
from nvidia.srl.usd import world_structure
# Initialize world structure
world = world_structure.WorldStructure(stage)
# Get world information
print(f"World USD path: {world.get_world_usd_path()}")
print(f"URDF root directory: {world.get_urdf_root_dir_path()}")
# Get different types of prims
world_prim = world.get_world_prim()
entity_prims = world.get_entity_prims()
object_prims = world.get_object_prims()
print(f"World prim: {world_prim.GetPath()}")
print(f"Entities: {len(entity_prims)}")
print(f"Objects: {len(object_prims)}")
# Get URDF path for a specific prim
for prim in entity_prims:
urdf_path = world.get_urdf_path(prim)
print(f"Prim {prim.GetPath()} -> URDF: {urdf_path}")
```
### 4. Geometry Export
Export USD geometry to common formats:
```python
from nvidia.srl.usd import prim_helper
# Export geometry as OBJ file
prim = stage.GetPrimAtPath("/world/robot/end_effector")
if prim_helper.has_geometry(prim):
prim_helper.export_geometry_as_obj_file(
prim,
"end_effector.obj",
frame_time=0.0,
triangulate=True
)
# Export with specific frame time
prim_helper.export_geometry_as_obj_file(
prim,
"end_effector_frame_10.obj",
frame_time=10.0
)
```
### 5. Physics Properties
Work with USD physics properties for simulation:
```python
from nvidia.srl.usd import prim_helper
# Check if prim has physics properties
if prim_helper.has_physics_properties(prim):
# Get mass
mass = prim_helper.get_mass(prim)
print(f"Mass: {mass}")
# Get center of mass
com = prim_helper.get_center_of_mass(prim)
print(f"Center of mass: {com}")
# Get inertia tensor
inertia = prim_helper.get_inertia_tensor(prim)
print(f"Inertia tensor: {inertia}")
# Check physics API types
if prim_helper.has_api(prim, prim_helper.UsdPhysicsRigidBodyAPI):
print("Prim has rigid body physics")
if prim_helper.has_api(prim, prim_helper.UsdPhysicsCollisionAPI):
print("Prim has collision properties")
```
### 6. Transform Operations
Handle transforms and poses:
```python
from nvidia.srl.usd import prim_helper
from nvidia.srl.math.transform import Transform
# Get prim transform
transform = prim_helper.get_transform(prim, frame_time=0.0)
print(f"Transform: {transform}")
# Get prim pose
pose = prim_helper.get_pose(prim, frame_time=0.0)
print(f"Pose: {pose}")
# Set prim transform
new_transform = Transform.from_rotation_and_translation(
rotation=[0, 0, 0, 1], # Quaternion
translation=[1, 2, 3]
)
prim_helper.set_transform(prim, new_transform, frame_time=0.0)
# Get transform at specific time
transform_at_time = prim_helper.get_transform(prim, frame_time=10.0)
```
## Examples
The package includes several example scripts and test cases:
### Python Examples
- **Basic USD operations**: `tests/usd/prim_helper_test.py`
- **World structure**: `tests/usd/world_structure_test.py`
- **Transform operations**: Various test functions in test files
### Running Examples
```bash
# Run all tests (includes examples)
make test
# Run specific test file
python -m pytest tests/usd/prim_helper_test.py
# Run with coverage
make coverage
```
## Development
### Setting up development environment
1. **Clone the repository:**
```bash
git clone ssh://git@gitlab-master.nvidia.com:12051/srl/py/usd.git
cd usd
```
2. **Set up the Python virtual environment:**
```bash
make init
```
3. **Activate the virtual environment:**
```bash
source .venv/3.10-py-usd/bin/activate
```
### Running Tests
```bash
# Run all tests
make test
# Run tests with coverage
make coverage
# Run specific test file
python -m pytest tests/usd/prim_helper_test.py -v
```
### Code Quality
```bash
# Run all code quality checks
make check
# Format code
make format
# Generate documentation
make docs
```
### Building Package
```bash
# Build package
make package
```
### Documentation
```bash
# Build documentation
make docs
# View documentation
open _build/docs/sphinx/html/index.html
```
## Configuration
The package works with standard USD files and doesn't require additional configuration files. However, it integrates with:
- **URDF files**: Automatically locates URDF files relative to USD files
- **USD schemas**: Supports standard USD schemas and NVIDIA extensions
- **Physics properties**: Works with UsdPhysics schema for simulation
## Troubleshooting
### Common Issues
1. **USD import errors**: Ensure USD Core is properly installed
```bash
pip install usd-core
```
2. **File path errors**: Verify USD file paths and permissions
```bash
ls -la your_scene.usd
```
3. **Memory issues**: Large USD files may require more memory
```bash
# Monitor memory usage
top -p $(pgrep python)
```
4. **Physics API errors**: Ensure UsdPhysics schema is available
```python
from pxr import UsdPhysics
# If this fails, USD installation may be incomplete
```
### Debug Mode
Enable debug logging by setting the environment variable:
```bash
export LOG_LEVEL=DEBUG
python your_script.py
```
### USD Version Compatibility
The package supports multiple USD versions:
- Python 3.11+: USD Core 25.2+
- Python 3.9-3.10: USD Core 21.11-23.8
- Python 3.7-3.8: USD Core 21.11+
Check your USD version:
```python
from pxr import Usd
print(f"USD version: {Usd.GetVersionInfo()}")
```
## Performance
- **Stage loading**: Optimized for large USD files
- **Prim queries**: Efficient filtering and pattern matching
- **Geometry export**: Fast conversion to common formats
- **Memory usage**: Efficient memory management for large scenes
- **Transform calculations**: Optimized matrix operations
## License
Copyright (c) 2022-2025, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.
## Support
For issues and questions:
- Project issues: https://gitlab-master.nvidia.com/srl/py/usd/-/issues
- Documentation: Built locally with `make docs`
- NVIDIA Robotics: https://developer.nvidia.com/robotics
- USD Documentation: https://openusd.org/
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"description": "# NVIDIA SRL USD\n\nA Python package for USD (Universal Scene Description) utilities, providing advanced prim manipulation, world structure management, and robotics scene integration capabilities.\nThis package integrates with NVIDIA SRL's robotics ecosystem and provides high-level wrappers for USD operations that are commonly needed in robot control, simulation, and scene management applications.\n\n## Table of Contents\n\n- [Overview](#overview)\n- [Quick Start](#quick-start)\n- [Installation](#installation)\n- [Usage](#usage)\n - [1. USD Stage Management](#1-usd-stage-management)\n - [2. Prim Operations](#2-prim-operations)\n - [3. World Structure](#3-world-structure)\n - [4. Geometry Export](#4-geometry-export)\n - [5. Physics Properties](#5-physics-properties)\n - [6. Transform Operations](#6-transform-operations)\n- [Examples](#examples)\n- [Development](#development)\n - [Setting up development environment](#setting-up-development-environment)\n - [Running Tests](#running-tests)\n - [Code Quality](#code-quality)\n - [Building Package](#building-package)\n - [Documentation](#documentation)\n- [Configuration](#configuration)\n- [Troubleshooting](#troubleshooting)\n - [Common Issues](#common-issues)\n - [Debug Mode](#debug-mode)\n- [Performance](#performance)\n- [License](#license)\n- [Support](#support)\n\n## Overview\n\nThe NVIDIA SRL USD package currently provides solutions for:\n\n- **USD stage management** with efficient file loading and validation\n- **Prim operations** for querying, filtering, and manipulating USD prims\n- **World structure management** for robotics scenes and environments\n- **Geometry export** capabilities for converting USD geometry to common formats\n- **Physics properties** handling for simulation and robotics applications\n- **Transform operations** for pose calculations and coordinate transformations\n\n## Quick Start\n\n1. **Install the package:**\n ```bash\n pip install nvidia-srl-usd\n ```\n\n2. **Basic USD stage usage:**\n ```python\n from nvidia.srl.usd import prim_helper\n from nvidia.srl.usd import world_structure\n\n # Open a USD stage\n stage = prim_helper.open_stage(\"path/to/scene.usd\")\n\n # Get world structure\n world = world_structure.WorldStructure(stage)\n\n # List all entity prims in the world\n entities = world.get_entity_prims()\n print(f\"Found {len(entities)} entities in the world\")\n ```\n\n3. **Prim querying example:**\n ```python\n from nvidia.srl.usd import prim_helper\n\n # Get all camera prims in the stage\n cameras = prim_helper.get_prims(\n stage,\n prim_types=[\"Camera\"],\n return_path=True\n )\n print(f\"Available cameras: {cameras}\")\n\n # Get all prims with physics properties\n physics_prims = prim_helper.get_prims(\n stage,\n has_apis=[prim_helper.UsdPhysicsRigidBodyAPI]\n )\n print(f\"Physics objects: {len(physics_prims)}\")\n ```\n\n4. **Geometry export example:**\n ```python\n from nvidia.srl.usd import prim_helper\n\n # Export a prim's geometry as OBJ file\n prim = stage.GetPrimAtPath(\"/world/table\")\n if prim_helper.is_object(prim):\n prim_helper.export_geometry_as_obj_file(\n prim,\n \"table.obj\",\n frame_time=0.0\n )\n print(\"Geometry exported successfully\")\n ```\n\n## Installation\n\n### Prerequisites\n\n- Python 3.7 or higher\n- Gitlab access token for NVIDIA's package repository\n- USD Core library (automatically installed as dependency)\n\n### Install from PYPI.org\n\nUse pip to install this Python distribution from the PYPI package registry (https://pypi.org/project/nvidia-srl-usd/).\n\n```bash\npip install nvidia-srl-usd\n```\n\n### Install for Development\n\n```bash\n# Clone the repository\ngit clone ssh://git@gitlab-master.nvidia.com:12051/srl/py/usd.git\ncd usd\n\n# Set up development environment\nmake init\n\n# Activate virtual environment\nsource .venv/3.10-py-usd/bin/activate\n```\n\n## Usage\n\n### 1. USD Stage Management\n\nThe package provides utilities for opening and managing USD stages:\n\n```python\nfrom nvidia.srl.usd import prim_helper\n\n# Open a USD stage from file path\nstage = prim_helper.open_stage(\"scene.usd\")\n\n# Check if stage is valid\nif stage:\n print(f\"Stage opened successfully: {stage.GetRootLayer().realPath}\")\n\n # Get default prim\n default_prim = prim_helper.get_world_prim(stage)\n print(f\"Default prim: {default_prim.GetPath()}\")\n```\n\n### 2. Prim Operations\n\nQuery and filter prims based on various criteria:\n\n```python\nfrom nvidia.srl.usd import prim_helper\n\n# Get all prims matching a path pattern\ntable_prims = prim_helper.get_prims(\n stage,\n path_pattern=\".*table.*\",\n return_path=True\n)\n\n# Get prims by type\nmesh_prims = prim_helper.get_prims(\n stage,\n prim_types=[\"Mesh\"]\n)\n\n# Get prims with specific APIs\nrigid_body_prims = prim_helper.get_prims(\n stage,\n has_apis=[prim_helper.UsdPhysicsRigidBodyAPI]\n)\n\n# Check prim properties\nfor prim in mesh_prims:\n if prim_helper.is_object(prim):\n print(f\"Object prim: {prim.GetPath()}\")\n if prim_helper.is_robot(prim):\n print(f\"Robot prim: {prim.GetPath()}\")\n```\n\n### 3. World Structure\n\nManage world scenes and robotics environments:\n\n```python\nfrom nvidia.srl.usd import world_structure\n\n# Initialize world structure\nworld = world_structure.WorldStructure(stage)\n\n# Get world information\nprint(f\"World USD path: {world.get_world_usd_path()}\")\nprint(f\"URDF root directory: {world.get_urdf_root_dir_path()}\")\n\n# Get different types of prims\nworld_prim = world.get_world_prim()\nentity_prims = world.get_entity_prims()\nobject_prims = world.get_object_prims()\n\nprint(f\"World prim: {world_prim.GetPath()}\")\nprint(f\"Entities: {len(entity_prims)}\")\nprint(f\"Objects: {len(object_prims)}\")\n\n# Get URDF path for a specific prim\nfor prim in entity_prims:\n urdf_path = world.get_urdf_path(prim)\n print(f\"Prim {prim.GetPath()} -> URDF: {urdf_path}\")\n```\n\n### 4. Geometry Export\n\nExport USD geometry to common formats:\n\n```python\nfrom nvidia.srl.usd import prim_helper\n\n# Export geometry as OBJ file\nprim = stage.GetPrimAtPath(\"/world/robot/end_effector\")\nif prim_helper.has_geometry(prim):\n prim_helper.export_geometry_as_obj_file(\n prim,\n \"end_effector.obj\",\n frame_time=0.0,\n triangulate=True\n )\n\n# Export with specific frame time\nprim_helper.export_geometry_as_obj_file(\n prim,\n \"end_effector_frame_10.obj\",\n frame_time=10.0\n)\n```\n\n### 5. Physics Properties\n\nWork with USD physics properties for simulation:\n\n```python\nfrom nvidia.srl.usd import prim_helper\n\n# Check if prim has physics properties\nif prim_helper.has_physics_properties(prim):\n # Get mass\n mass = prim_helper.get_mass(prim)\n print(f\"Mass: {mass}\")\n\n # Get center of mass\n com = prim_helper.get_center_of_mass(prim)\n print(f\"Center of mass: {com}\")\n\n # Get inertia tensor\n inertia = prim_helper.get_inertia_tensor(prim)\n print(f\"Inertia tensor: {inertia}\")\n\n# Check physics API types\nif prim_helper.has_api(prim, prim_helper.UsdPhysicsRigidBodyAPI):\n print(\"Prim has rigid body physics\")\nif prim_helper.has_api(prim, prim_helper.UsdPhysicsCollisionAPI):\n print(\"Prim has collision properties\")\n```\n\n### 6. Transform Operations\n\nHandle transforms and poses:\n\n```python\nfrom nvidia.srl.usd import prim_helper\nfrom nvidia.srl.math.transform import Transform\n\n# Get prim transform\ntransform = prim_helper.get_transform(prim, frame_time=0.0)\nprint(f\"Transform: {transform}\")\n\n# Get prim pose\npose = prim_helper.get_pose(prim, frame_time=0.0)\nprint(f\"Pose: {pose}\")\n\n# Set prim transform\nnew_transform = Transform.from_rotation_and_translation(\n rotation=[0, 0, 0, 1], # Quaternion\n translation=[1, 2, 3]\n)\nprim_helper.set_transform(prim, new_transform, frame_time=0.0)\n\n# Get transform at specific time\ntransform_at_time = prim_helper.get_transform(prim, frame_time=10.0)\n```\n\n## Examples\n\nThe package includes several example scripts and test cases:\n\n### Python Examples\n\n- **Basic USD operations**: `tests/usd/prim_helper_test.py`\n- **World structure**: `tests/usd/world_structure_test.py`\n- **Transform operations**: Various test functions in test files\n\n### Running Examples\n\n```bash\n# Run all tests (includes examples)\nmake test\n\n# Run specific test file\npython -m pytest tests/usd/prim_helper_test.py\n\n# Run with coverage\nmake coverage\n```\n\n## Development\n\n### Setting up development environment\n\n1. **Clone the repository:**\n ```bash\n git clone ssh://git@gitlab-master.nvidia.com:12051/srl/py/usd.git\n cd usd\n ```\n\n2. **Set up the Python virtual environment:**\n ```bash\n make init\n ```\n\n3. **Activate the virtual environment:**\n ```bash\n source .venv/3.10-py-usd/bin/activate\n ```\n\n### Running Tests\n\n```bash\n# Run all tests\nmake test\n\n# Run tests with coverage\nmake coverage\n\n# Run specific test file\npython -m pytest tests/usd/prim_helper_test.py -v\n```\n\n### Code Quality\n\n```bash\n# Run all code quality checks\nmake check\n\n# Format code\nmake format\n\n# Generate documentation\nmake docs\n```\n\n### Building Package\n\n```bash\n# Build package\nmake package\n```\n\n### Documentation\n\n```bash\n# Build documentation\nmake docs\n\n# View documentation\nopen _build/docs/sphinx/html/index.html\n```\n\n## Configuration\n\nThe package works with standard USD files and doesn't require additional configuration files. However, it integrates with:\n\n- **URDF files**: Automatically locates URDF files relative to USD files\n- **USD schemas**: Supports standard USD schemas and NVIDIA extensions\n- **Physics properties**: Works with UsdPhysics schema for simulation\n\n## Troubleshooting\n\n### Common Issues\n\n1. **USD import errors**: Ensure USD Core is properly installed\n ```bash\n pip install usd-core\n ```\n\n2. **File path errors**: Verify USD file paths and permissions\n ```bash\n ls -la your_scene.usd\n ```\n\n3. **Memory issues**: Large USD files may require more memory\n ```bash\n # Monitor memory usage\n top -p $(pgrep python)\n ```\n\n4. **Physics API errors**: Ensure UsdPhysics schema is available\n ```python\n from pxr import UsdPhysics\n # If this fails, USD installation may be incomplete\n ```\n\n### Debug Mode\n\nEnable debug logging by setting the environment variable:\n\n```bash\nexport LOG_LEVEL=DEBUG\npython your_script.py\n```\n\n### USD Version Compatibility\n\nThe package supports multiple USD versions:\n- Python 3.11+: USD Core 25.2+\n- Python 3.9-3.10: USD Core 21.11-23.8\n- Python 3.7-3.8: USD Core 21.11+\n\nCheck your USD version:\n```python\nfrom pxr import Usd\nprint(f\"USD version: {Usd.GetVersionInfo()}\")\n```\n\n## Performance\n\n- **Stage loading**: Optimized for large USD files\n- **Prim queries**: Efficient filtering and pattern matching\n- **Geometry export**: Fast conversion to common formats\n- **Memory usage**: Efficient memory management for large scenes\n- **Transform calculations**: Optimized matrix operations\n\n## License\n\nCopyright (c) 2022-2025, NVIDIA CORPORATION & AFFILIATES. All rights reserved.\n\nLicensed under the Apache License, Version 2.0 (the \"License\"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.\n\n## Support\n\nFor issues and questions:\n- Project issues: https://gitlab-master.nvidia.com/srl/py/usd/-/issues\n- Documentation: Built locally with `make docs`\n- NVIDIA Robotics: https://developer.nvidia.com/robotics\n- USD Documentation: https://openusd.org/\n",
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JSON