| 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) | |