newton.usd.SchemaResolverNewton#
- class newton.usd.SchemaResolverNewton[source]#
Bases:
SchemaResolverSchema resolver for Newton-authored USD attributes.
Note
The Newton USD schema is under development and may change in the future.
- mapping: ClassVar[dict[PrimType, dict[str, SchemaAttribute]]] = {PrimType.SCENE: {'gravity_enabled': SchemaResolver.SchemaAttribute(name='newton:gravityEnabled', default=True, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'max_solver_iterations': SchemaResolver.SchemaAttribute(name='newton:maxSolverIterations', default=-1, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'time_steps_per_second': SchemaResolver.SchemaAttribute(name='newton:timeStepsPerSecond', default=1000, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.JOINT: {'angular_position': SchemaResolver.SchemaAttribute(name='newton:angular:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'angular_velocity': SchemaResolver.SchemaAttribute(name='newton:angular:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'armature': SchemaResolver.SchemaAttribute(name='newton:armature', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'friction': SchemaResolver.SchemaAttribute(name='newton:friction', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_angular_kd': SchemaResolver.SchemaAttribute(name='newton:angular:limitDamping', default=10.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_angular_ke': SchemaResolver.SchemaAttribute(name='newton:angular:limitStiffness', default=10000.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_linear_kd': SchemaResolver.SchemaAttribute(name='newton:linear:limitDamping', default=10.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_linear_ke': SchemaResolver.SchemaAttribute(name='newton:linear:limitStiffness', default=10000.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotX_kd': SchemaResolver.SchemaAttribute(name='newton:rotX:limitDamping', default=10.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotX_ke': SchemaResolver.SchemaAttribute(name='newton:rotX:limitStiffness', default=10000.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotY_kd': SchemaResolver.SchemaAttribute(name='newton:rotY:limitDamping', default=10.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotY_ke': SchemaResolver.SchemaAttribute(name='newton:rotY:limitStiffness', default=10000.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotZ_kd': SchemaResolver.SchemaAttribute(name='newton:rotZ:limitDamping', default=10.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotZ_ke': SchemaResolver.SchemaAttribute(name='newton:rotZ:limitStiffness', default=10000.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'linear_position': SchemaResolver.SchemaAttribute(name='newton:linear:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'linear_velocity': SchemaResolver.SchemaAttribute(name='newton:linear:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotX_position': SchemaResolver.SchemaAttribute(name='newton:rotX:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotX_velocity': SchemaResolver.SchemaAttribute(name='newton:rotX:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotY_position': SchemaResolver.SchemaAttribute(name='newton:rotY:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotY_velocity': SchemaResolver.SchemaAttribute(name='newton:rotY:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotZ_position': SchemaResolver.SchemaAttribute(name='newton:rotZ:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotZ_velocity': SchemaResolver.SchemaAttribute(name='newton:rotZ:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.SHAPE: {'gap': SchemaResolver.SchemaAttribute(name='newton:contactGap', default=-inf, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'kd': SchemaResolver.SchemaAttribute(name='newton:contact_kd', default=None, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'ke': SchemaResolver.SchemaAttribute(name='newton:contact_ke', default=None, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'margin': SchemaResolver.SchemaAttribute(name='newton:contactMargin', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'max_hull_vertices': SchemaResolver.SchemaAttribute(name='newton:maxHullVertices', default=-1, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.BODY: {}, PrimType.MATERIAL: {'mu_rolling': SchemaResolver.SchemaAttribute(name='newton:rollingFriction', default=0.0005, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'mu_torsional': SchemaResolver.SchemaAttribute(name='newton:torsionalFriction', default=0.25, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.ACTUATOR: {}, PrimType.ARTICULATION: {'self_collision_enabled': SchemaResolver.SchemaAttribute(name='newton:selfCollisionEnabled', default=True, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}}#