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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.

See Last tested for the latest validation status.

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¶