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ROS2 Essentials

NVIDIA OpenUSD Tools

j3soon/ros2-essentials

NVIDIA OpenUSD Tools¶

NVIDIA OpenUSD binary tools v25.08 for Linux.

To enable NVIDIA OpenUSD tools, set the NV_OPENUSD argument to YES in the compose.yaml file of your desired workspace (e.g., template_ws/docker/compose.yaml). After making these changes, rebuild the Docker image.

Last tested on commit 1e1cd11 by @j3soon.

Usage¶

These OpenUSD tools are often very useful for working with USD files directly without needing to launch Isaac Sim.

FILE=~/nvidia/openusd/share/usd/tutorials/traversingStage/HelloWorld.usda
FILE_REF=~/nvidia/openusd/share/usd/tutorials/traversingStage/RefExample.usda
usdview_gui.sh
usdedit.sh $FILE
usdcat.sh $FILE
usddiff.sh $FILE $FILE_REF
usdview.sh $FILE
# usdrecord.sh $FILE output.png
usdresolve.sh $FILE
usdtree.sh $FILE
usdtree.sh -f $FILE_REF
usdzip.sh output.usdz $FILE
# usdchecker.sh $FILE
# and more ...

Check ~/nvidia/openusd/scripts and USD Toolset documentation for the full list of available tools and their usage.

Limitations: Certain USD tools (e.g., usdrecord and usdchecker) may still have runtime issues when executing directly due to upstream missing dependencies or compatibility problems. See the following for workarounds:
FILE=~/nvidia/openusd/share/usd/tutorials/traversingStage/HelloWorld.usda
PYTHONHOME=${HOME}/nvidia/openusd/python \
PYTHONPATH= \
USD_INSTALL_DIR=${HOME}/nvidia/openusd \
QT_QPA_PLATFORM=offscreen \
usdrecord.sh "$FILE" output.png
FILE=~/nvidia/openusd/share/usd/tutorials/traversingStage/HelloWorld.usda
PYTHONHOME=${HOME}/nvidia/openusd/python \
PYTHONPATH= \
USD_INSTALL_DIR=${HOME}/nvidia/openusd \
usdchecker.sh $FILE

Comparison with Official Pixar OpenUSD¶

The NVIDIA pre-built OpenUSD tools are used here since they provide pre-built binaries. The official Pixar OpenUSD doesn't provide pre-built binaries, you'll need to build from source if you want to use it by referring to the Pixar USD documentation for instructions.

References¶