diff --git a/scripts/run_creo2urdf.ps1 b/scripts/run_creo2urdf.ps1
new file mode 100644
index 0000000..80ebe2e
--- /dev/null
+++ b/scripts/run_creo2urdf.ps1
@@ -0,0 +1,63 @@
+<#
+.SYNOPSIS
+    Converter for Creo assembly to URDF format.
+.DESCRIPTION
+    This script converts  Creo assembly to URDF format using the creo2urdf plugin.
+.PARAMETER asmPath
+    The path of the .asm file to be converted.
+.PARAMETER yamlPath
+    The path of the YAML configuration file will be used.
+.PARAMETER csvPath
+    The path of the CSV configuration file will be used.
+.PARAMETER outputPath
+    The path where the final output will be saved.
+.EXAMPLE
+    .\run_creo2urdf.ps1 -asmPath "C:\path\to\asm_file.asm" -yamlPath "C:\path\to\yaml_file.yaml" -csvPath "C:\path\to\csv_file.csv" -outputPath "C:\output\path"
+    This command converts the Creo file to URDF format using the specified paths.
+#>
+
+param (
+    [string]$asmPath,
+    [string]$yamlPath,
+    [string]$csvPath,
+    [string]$outputPath
+)
+
+Write-Host "Using asm path: $asmPath"
+Write-Host "Using yaml path: $yamlPath"
+Write-Host "Using csv path: $csvPath"
+Write-Host "Using output path: $outputPath"
+
+
+if ([string]::IsNullOrEmpty($env:CREO9_INSTALL_PATH)) {
+    Write-Host "CREO9_INSTALL_PATH not set, exiting."
+    Exit
+}
+if ([string]::IsNullOrEmpty($asmPath)) {
+    Write-Host "asm path not specified, exiting."
+    Exit
+}
+if ([string]::IsNullOrEmpty($yamlPath)) {
+    Write-Host "yaml path not specified, exiting."
+    Exit
+}
+if ([string]::IsNullOrEmpty($csvPath)) {
+    Write-Host "csv path not specified, exiting."
+    Exit
+}
+if ([string]::IsNullOrEmpty($outputPath)) {
+    Write-Host "output path not specified, exiting."
+    Exit
+}
+
+$parametricExe = "$env:CREO9_INSTALL_PATH\..\Parametric\bin\parametric.exe"
+Start-Process -FilePath $parametricExe -ArgumentList "-g:no_graphics", "-batch_mode", "creo2urdf", "+$asmPath", "+$yamlPath", "+$csvPath", "+$outputPath" -Wait
+
+# Check if model.urdf exists in the output path
+$urdfPath = Join-Path -Path $outputPath -ChildPath "model.urdf"
+if (Test-Path -Path $urdfPath) {
+    Write-Host "Conversion completed successfully. The URDF file is located at: $urdfPath"
+}
+else {
+    Write-Host "Conversion failed. The URDF file was not generated."
+}