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from pxr import Usd, UsdPhysics
stage = Usd.Stage.Open("/home/zuo/Documents/RoboVerse/roboverse_data/robots/universal_robots_ur5e/ur5e/ur5e.usd")
for prim in stage.Traverse():
if prim.IsA(UsdPhysics.RevoluteJoint) or prim.IsA(UsdPhysics.PrismaticJoint):
joint = UsdPhysics.RevoluteJoint(prim) if prim.IsA(UsdPhysics.RevoluteJoint) else UsdPhysics.PrismaticJoint(prim)
name = prim.GetPath().pathString
lo = joint.GetLowerLimitAttr().Get()
hi = joint.GetUpperLimitAttr().Get()
print(name, lo, hi)
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