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convert_sdf_to_usd.md

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Convert SDF to USD

Prerequisites

  • Compile gz-usd.
  • Omniverse Create.

Installing Omniverse Create

Download Omniverse from https://www.nvidia.com/en-us/omniverse/.

After logging in to the launcher, go to the "Exchange" tab and search for "Create". After installing it, you can launch it from the "Library" tab.

Convert SDF to USD

If gz-usd is built, there should be a sdf2usd cli program.

SDF to USD converter
Usage: sdf2usd [OPTIONS] [input] [output]

Positionals:
  input TEXT                  Input filename. Defaults to input.sdf unless otherwise specified.
  output TEXT                 Output filename. Defaults to output.usd unless otherwise specified.

Options:
  -h,--help                   Print this help message and exit
  --help-all                  Show all help
  --version

Example of converting sdf to usd

Note: The format of the output depends on the extension, use .usd to create a USD binary file instead.

To convert shapes_world.sdf to its USD representation as a file called shapes.usd, run the following commands:

wget https://raw.githubusercontent.com/gazebosim/sdformat/sdf12/test/sdf/shapes_world.sdf
./sdf2usd shapes_world.sdf shapes.usd

Test the result by opening it in Omniverse Create.

You can now view the contents of the generated USD file with usdcat (this should have been installed when setting up the USD dependency):

usdcat shapes.usd

To see the visual representation of the USD world, run usdview (this should have also been installed when setting up the USD dependency):

usdview shapes.usd