COMMAND
Import text USDA evidence.
rgd import robot.usda --out partial-robotPARSER PROFILE
The current subset is intentionally auditable.
Stage metadata
defaultPrim, metersPerUnit, kilogramsPerUnit and upAxis when authored.
Joint schemas
PhysicsRevoluteJoint and PhysicsPrismaticJoint.
Body relations
physics:body0 and physics:body1 are preserved as source relationships.
Axes + limits
X/Y/Z axes and authored lower/upper limits.
Local frames
Directly authored local joint frames when present.
Drives
Authored maxForce, stiffness and damping for supported angular/linear drives.
UNIT CONVERSION
Convert only when authored metadata justifies it.
revolute position degrees → radians
prismatic position stage distance × metersPerUnit → metres
linear maxForce requires metersPerUnit + kilogramsPerUnit
angular maxForce requires metersPerUnit + kilogramsPerUnitRaw source values remain available in source_usd_joint_map. Missing required unit metadata is not silently replaced.
NOT SUPPORTED
Use a full OpenUSD adapter when composition matters.
The lightweight parser does not compose layers, resolve references or payloads, evaluate variants, resolve inherited opinions, evaluate complete transform stacks or comprehensively implement schema fallback behavior.
BINARY USD
USDC is outside the current importer.
Binary USD/USDC is not supported by this parser. Convert to USDA for the current path or use a future full OpenUSD SDK adapter.