Multiverse Parser

This module parses scene descriptions across various formats into each other using USD as the translation medium

Usage

multiverse_parser --help

usage: multiverse_parser [-h] --input INPUT --output OUTPUT [--physics | --no-physics] [--visual | --no-visual] [--collision | --no-collision]
                         [--keepusd | --no-keepusd] [--collisionrgba COLLISIONRGBA [COLLISIONRGBA ...]]

Multiverse parser

options:
  -h, --help            show this help message and exit
  --input INPUT         Import scene description as (URDF, MJCF, WORLD or USD)
  --output OUTPUT       Export scene description as (URDF, MJCF, WORLD or USD)
  --physics, --no-physics
                        Whether to include physics properties or not
  --visual, --no-visual
                        Whether to include visual meshes or not
  --collision, --no-collision
                        Whether to include collision meshes or not
  --keepusd, --no-keepusd
                        Whether to keep the USD file or not
  --collisionrgba COLLISIONRGBA [COLLISIONRGBA ...]
                        The color of the collision meshes, if they exist

Examples

Go to ../../build/multiverse/modules/multiverse_parser and run ctest. The scene graph from ../../tests/multiverse_parser/input will be translated in the output folder in ../../tests/multiverse_parser.