newton.utils.parse_usd#
- class newton.utils.parse_usd(source, builder, xform=None, only_load_enabled_rigid_bodies=False, only_load_enabled_joints=True, only_load_warp_scene=False, joint_drive_gains_scaling=1.0, invert_rotations=False, verbose=wp.config.verbose, ignore_paths=None, cloned_env=None, collapse_fixed_joints=False, enable_self_collisions=True, apply_up_axis_from_stage=False, root_path='/', joint_ordering='dfs')#
Parses a Universal Scene Description (USD) stage containing UsdPhysics schema definitions for rigid-body articulations and adds the bodies, shapes and joints to the given ModelBuilder.
The USD description has to be either a path (file name or URL), or an existing USD stage instance that implements the Stage interface.
- Parameters:
source (str | pxr.Usd.Stage) – The file path to the USD file, or an existing USD stage instance.
builder (ModelBuilder) – The
ModelBuilderto add the bodies and joints to.xform (Transform) – The transform to apply to the entire scene.
default_density (float) – The default density to use for bodies without a density attribute.
only_load_enabled_rigid_bodies (bool) – If True, only rigid bodies which do not have physics:rigidBodyEnabled set to False are loaded.
only_load_enabled_joints (bool) – If True, only joints which do not have physics:jointEnabled set to False are loaded.
only_load_warp_scene (bool) – If True, only load bodies that belong to a PhysicsScene which is simulated by Warp as a simulation owner.
joint_drive_gains_scaling (float) – The default scaling of the PD control gains (stiffness and damping), if not set in the PhysicsScene with as “warp:joint_drive_gains_scaling”.
invert_rotations (bool) – If True, inverts any rotations defined in the shape transforms.
verbose (bool) – If True, print additional information about the parsed USD file.
ignore_paths (List[str]) – A list of regular expressions matching prim paths to ignore.
cloned_env (str) – The prim path of an environment which is cloned within this USD file. Siblings of this environment prim will not be parsed but instead be replicated via ModelBuilder.add_builder(builder, xform) to speed up the loading of many instantiated environments.
collapse_fixed_joints (bool) – If True, fixed joints are removed and the respective bodies are merged. Only considered if not set on the PhysicsScene with as “warp:collapse_fixed_joints”.
enable_self_collisions (bool) – Determines the default behavior of whether self-collisions are enabled for all shapes. If a shape has the attribute
physxArticulation:enabledSelfCollisionsdefined, this attribute takes precedence.apply_up_axis_from_stage (bool) – If True, the up axis of the stage will be used to set
newton.ModelBuilder.up_axis. Otherwise, the stage will be rotated such that its up axis aligns with the builder’s up axis. Default is False.root_path (str) – The USD path to import, defaults to “/”.
joint_ordering (str) – The ordering of the joints in the simulation. Can be either “bfs” or “dfs” for breadth-first or depth-first search. Default is “dfs”.
- Returns:
Dictionary with the following entries:
”fps”
USD stage frames per second
”duration”
Difference between end time code and start time code of the USD stage
”up_axis”
Axisrepresenting the stage’s up axis (“X”, “Y”, or “Z”)”path_shape_map”
Mapping from prim path (str) of the UsdGeom to the respective shape index in
ModelBuilder”path_body_map”
Mapping from prim path (str) of a rigid body prim (e.g. that implements the PhysicsRigidBodyAPI) to the respective body index in
ModelBuilder”path_shape_scale”
Mapping from prim path (str) of the UsdGeom to its respective 3D world scale
”mass_unit”
The stage’s Kilograms Per Unit (KGPU) definition (1.0 by default)
”linear_unit”
The stage’s Meters Per Unit (MPU) definition (1.0 by default)
”scene_attributes”
Dictionary of all attributes applied to the PhysicsScene prim
”collapse_results”
Dictionary returned by \(ModelBuilder.collapse_fixed_joints()\) if collapse_fixed_joints is True, otherwise None.
- Return type:
- __init__(**kwargs)#