Software Artifact Engine
OpenUSD Topology Compiler
A cloud/CLI compiler engine that converts complex robotic kinematic models into ultra-optimized, zero-copy executable policy graphs.
Licensing Structure
Enterprise License / Custom Quote
✓ Self-Serve SaaS & Zero-Copy Artifact Compiler LicenseAutomated ingestion of URDF/OpenUSD files into maximal-coordinate Kamino solver & TensorRT graph export.
Architecture & Overview
The OpenUSD Topology Compiler automates the translation of standard URDF and OpenUSD kinematic files into maximal-coordinate physics representations. It identifies closed-loop linkages (such as 4-bar mechanisms) and automatically emits compiled JAX, TensorRT, or MLX executable artifacts.
Key Technical Deliverables
- 100% automated self-serve model ingestion and diagnostics.
- Instant detection of tree-topology singularities and constraint conflicts.
- Emits C++ PREEMPT_RT compatible header files and zero-copy buffers.
- Supports domain randomization parameter injection for sim-to-real transfer.
Sample Integration InterfaceCONFIDENTIAL R&D
# openusd_compiler.py
import jax
from kamino_compiler import IngestEngine
compiler = IngestEngine(source="robot_arm.urdf")
topology = compiler.build_maximal_coordinates()
print(f"[+] Compiled topology nodes: {len(topology.nodes)}")
graph = compiler.export_tensorrt(opt_level=3)
graph.save("robot_policy.engine")Hardware & Software Matrix
Input FormatsURDF (.urdf), OpenUSD (.usd, .usda, .usdc), MJCF
Target RuntimesNVIDIA TensorRT, Apple MLX, C++ Dynamic Library
Solver CoreKamino Dual-ADMM Physics Engine
Compilation Time< 45 Seconds Automated Execution
Linkage ResolutionMaximal-Coordinate Closed-Loop Inversion