newton.usd#

Utilities for working with the Universal Scene Description (USD) format.

This module provides both low-level USD utility helpers and public schema resolver types used by newton.ModelBuilder.add_usd().

Classes

`PrimType`	Enumeration of USD prim types that can be resolved by schema resolvers.
`SchemaResolver`	Base class mapping USD schema attributes to Newton attributes.
`SchemaResolverMjc`	Schema resolver for MuJoCo USD attributes.
`SchemaResolverNewton`	Schema resolver for Newton-authored USD attributes.
`SchemaResolverPhysx`	Schema resolver for PhysX USD attributes.

Functions

`get_attribute`()	Get an attribute value from a USD prim, returning a default if not found.
`get_attributes_in_namespace`(prim, namespace)	Get all attributes in a namespace from a USD prim.
`get_custom_attribute_declarations`(prim)	Get custom attribute declarations from a USD prim, typically from a `PhysicsScene` prim.
`get_custom_attribute_values`(prim, ...[, context])	Get custom attribute values from a USD prim and a set of known custom attributes.
`get_float`()	Get a float attribute value from a USD prim, validating that it's finite.
`get_gprim_axis`(prim[, name, default])	Get an axis attribute from a USD prim and convert it to an `Axis` enum.
`get_mesh`()	Load a triangle mesh from a USD prim that has the `UsdGeom.Mesh` schema.
`get_quat`()	Get a quaternion attribute value from a USD prim, validating that it's finite and non-zero.
`get_scale`(prim[, local, xform_cache])	Extract the scale component from a USD prim's transformation.
`get_transform`(prim[, local, xform_cache])	Extract the transform (position and rotation) from a USD Xform prim.
`has_applied_api_schema`(prim, schema_name)	Check if a USD prim has an applied API schema, even if the schema is not registered with USD's schema registry.
`has_attribute`(prim, name)	Check if a USD prim has a valid and authored attribute.
`type_to_warp`(v)	Determine the Warp type, e.g. wp.quat, wp.vec3, or wp.float32, from a USD value.
`value_to_warp`(v[, warp_dtype])	Convert a USD value (such as Gf.Quat, Gf.Vec3, or float) to a Warp value.