FabricDataAccessor

class omni.kit.manipulator.prim.fabric.FabricDataAccessor(usd_context_name: str = '', model=None)

Bases: object

A class for accessing and manipulating USD (Universal Scene Description) data in a fabric.

This class handles the retrieval and alteration of scene graph information, including transformation matrices, stage access, and USD prim manipulation. It is designed to work within a fabric-based USD runtime and provides a range of methods to interact with USD stages and prims.

Parameters

• usd_context_name (str) – The name of the USD context to associate with this data accessor. An empty string indicates no specific context.

• model – The model associated with the data accessor. The exact type of the model is not specified.

This class also handles update callbacks for changes in the USD stage and provides utility functions for converting between different path and transform representations.

Methods

__init__([usd_context_name, model])	Constructor for FabricDataAccessor.
clear_xform_cache()	Clears the transform cache.
destroy()	Cleans up resources and references held by the FabricDataAccessor instance.
do_transform_all_selected_prims_to_manipulator_pivot(...)	Transforms all selected prims to manipulator pivot.
do_transform_selected_prims(paths, paths_c, ...)	Transforms selected prims with the given transformations.
free_stage()	Frees the USD stage.
free_xform_cache()	Frees the transform cache.
get_current_time_code(currentTime)	Gets the current time code.
get_data_tag()	Gets the data tag that identifies FabricDataAccessor.
get_local_to_world_transform(prim)	Gets the local-to-world transform matrix of the USD Prim.
get_local_transform_SRT(prim[, time])	Gets the local transform SRT (scale, rotation, translation) of the USD Prim.
get_local_transform_pivot_inv(prim[, time])	Returns the inverse of the local transformation pivot for a given prim.
get_parent_to_world_transform(prim)	Gets the parent-to-world transform matrix of the USD Prim.
get_prim_at_path(path)	Returns the USD Prim at the specified path.
get_sdf_path(path)	Returns the Sdf path for the given path.
get_sdf_path_type()	Returns the type associated with Sdf paths used in FabricDataAccessor.
get_stage()	Gets the USD stage.
get_stage_up_axis()	Retrieves the up-axis of the stage.
get_string_path(path)	Converts an Sdf path to its string representation.
has_prim_at_path(path)	Checks if a prim exists at the given path.
is_a_xformable(prim)	Determines if the provided prim is a xformable prim.
is_instance_proxy(prim)	Determines if the provided prim is an instance proxy.
is_prim_active(prim)	Determines if the provided prim is active.
is_transformation_affected_by_attr_named(...)	Checks if transformation is affected by a specific attribute.
is_valid_path(path)	Determines if the given path is a valid Sdf path.
on_ended_transform(paths, paths_c, ...)	Applies transformations to multiple prims.
path_to_int(path)	Converts an Sdf path to an integer representation.
prim_has_prefix(path, prim_path)	Checks if the given path has the specified prefix.
remove_descendent_paths(paths)	Removes descendent paths from a list of paths.
remove_update_callback([listener])	Removes the update callback for changes.
remove_update_callback_ref_prim_maker([listener])	Removes the update callback reference to the prim maker.
set_stage()	Sets the USD stage.
setup_update_callback()	Sets up the update callback for changes.
setup_update_callback_ref_prim_maker(func)	Sets up the update callback with a reference to the prim maker function.
to_pxr_path(path)	Converts a path to a pxr.Sdf.Path type.
update_changes()	Updates changes in the USD stage.
update_xform_cache()	Updates the transform cache.
xform_set_time()	Sets the time for the transform cache.

Attributes

is_inited	Gets the initialization status of the FabricDataAccessor.
priority	Gets the priority value of the FabricDataAccessor.
priority_write	Gets the write priority value of the FabricDataAccessor.
usd_context	Gets the USD context associated with the FabricDataAccessor.

__init__(usd_context_name: str = '', model=None)

Constructor for FabricDataAccessor.

Initializes a new instance of the FabricDataAccessor with optional USD context and model.

clear_xform_cache()

Clears the transform cache.

destroy()

Cleans up resources and references held by the FabricDataAccessor instance.

do_transform_all_selected_prims_to_manipulator_pivot(paths: List[str], paths_c: List[int], new_translations: List[float], new_rotation_eulers: List[float], new_rotation_orders: List[int], new_scales: List[float])

Transforms all selected prims to manipulator pivot.

Parameters

• paths (List[str]) – List of path strings for selected prims.

• paths_c (List[int]) – List of path hashes for selected prims.

• new_translations (List[float]) – List of new translation values for prims.

• new_rotation_eulers (List[float]) – List of new rotation euler angles for prims.

• new_rotation_orders (List[int]) – List of new rotation orders for prims.

• new_scales (List[float]) – List of new scale values for prims.

do_transform_selected_prims(paths: List[str], paths_c: List[int], new_translations: List[float], new_rotation_eulers: List[float], new_rotation_orders: List[int], new_scales: List[float])

Transforms selected prims with the given transformations.

Parameters

• paths (List[str]) – List of path strings for selected prims.

• paths_c (List[int]) – List of path hashes for selected prims.

• new_translations (List[float]) – List of new translation values for prims.

• new_rotation_eulers (List[float]) – List of new rotation euler angles for prims.

• new_rotation_orders (List[int]) – List of new rotation orders for prims.

• new_scales (List[float]) – List of new scale values for prims.

free_stage()

Frees the USD stage.

free_xform_cache()

Frees the transform cache.

get_current_time_code(currentTime: float) → TimeCode

Gets the current time code.

Parameters

currentTime (float) – The current time to get the time code for.

Returns

The current time code.

Return type

usdrt.Usd.TimeCode

get_data_tag() → str

Gets the data tag that identifies FabricDataAccessor.

Returns

The data tag for FabricDataAccessor.

Return type

str

get_local_to_world_transform(prim: Prim) → Matrix4d

Gets the local-to-world transform matrix of the USD Prim.

Parameters

prim (usdrt.Usd.Prim) – The USD Prim to get the transform for.

Returns

The local-to-world transform matrix.

Return type

usdrt.Gf.Matrix4d

get_local_transform_SRT(prim: Prim, time: Optional[float] = None) → Tuple[Vec3d, Vec3d, Vec3i, Vec3d]

Gets the local transform SRT (scale, rotation, translation) of the USD Prim.

Parameters

• prim (usdrt.Usd.Prim) – The USD Prim to get the transform for.

• time (float) – The time at which to evaluate the transform.

Returns

The SRT components of the transform.

Return type

Tuple[usdrt.Gf.Vec3d, usdrt.Gf.Vec3d, usdrt.Gf.Vec3i, usdrt.Gf.Vec3d]

get_local_transform_pivot_inv(prim: Prim, time: Optional[float] = None) → Matrix4d

Returns the inverse of the local transformation pivot for a given prim.

Parameters

• prim (Usd.Prim) – The prim to calculate the inverse transform for.

• time (float, optional) – The time at which to evaluate the transformation.

Returns

The inverse of the local transformation matrix.

Return type

Gf.Matrix4d

get_parent_to_world_transform(prim: Prim) → Matrix4d

Gets the parent-to-world transform matrix of the USD Prim.

Parameters

prim (usdrt.Usd.Prim) – The USD Prim to get the transform for.

Returns

The parent-to-world transform matrix.

Return type

usdrt.Gf.Matrix4d

get_prim_at_path(path: Path) → Prim

Returns the USD Prim at the specified path.

Parameters

path (usdrt.Sdf.Path) – The path to the USD Prim.

Returns

The USD Prim at the given path.

Return type

usdrt.Usd.Prim

get_sdf_path(path: Path) → Path

Returns the Sdf path for the given path.

Parameters

path (usdrt.Sdf.Path) – The path to resolve.

Returns

The resolved Sdf path.

Return type

usdrt.Sdf.Path

get_sdf_path_type() → type

Returns the type associated with Sdf paths used in FabricDataAccessor.

Returns

The Sdf path type used by FabricDataAccessor.

Return type

type

get_stage() → Stage

Gets the USD stage.

Returns

The USD stage.

Return type

usdrt.Usd.Stage

get_stage_up_axis() → str

Retrieves the up-axis of the stage.

Returns

The up-axis of the stage.

Return type

str

get_string_path(path: Union[Path, str]) → str

Converts an Sdf path to its string representation.

Parameters

path (Union[usdrt.Sdf.Path, str]) – The path to convert.

Returns

The string representation of the path.

Return type

str

has_prim_at_path(path: Path) → bool

Checks if a prim exists at the given path.

Parameters

path (usdrt.Sdf.Path) – The path to check.

Returns

True if a prim exists at the path, False otherwise.

Return type

bool

is_a_xformable(prim: Prim) → bool

Determines if the provided prim is a xformable prim.

Parameters

prim (usdrt.Usd.Prim) – The prim to check.

Returns

True if it’s a xformable prim, False otherwise.

Return type

bool

is_instance_proxy(prim: Prim) → bool

Determines if the provided prim is an instance proxy.

Parameters

prim (usdrt.Usd.Prim) – The prim to check.

Returns

True if it is an instance proxy, False otherwise.

Return type

bool

is_prim_active(prim: Prim) → bool

Determines if the provided prim is active.

Parameters

prim (usdrt.Usd.Prim) – The prim to check.

Returns

True if the prim is active, False otherwise.

Return type

bool

is_transformation_affected_by_attr_named(sdf_path: Path) → bool

Checks if transformation is affected by a specific attribute.

Parameters

sdf_path (usdrt.Sdf.Path) – The Sdf path to check.

Returns

True if transformation is affected, False otherwise.

Return type

bool

is_valid_path(path: Any) → bool

Determines if the given path is a valid Sdf path.

Parameters

path (Any) – The path to validate.

Returns

True if the path is valid, False otherwise.

Return type

bool

on_ended_transform(paths: List[str], paths_c: List[int], new_translations: List[float], new_rotation_eulers: List[float], new_rotation_orders: List[int], new_scales: List[float], old_translations: List[float], old_rotation_eulers: List[float], old_rotation_orders: List[int], old_scales: List[float])

Applies transformations to multiple prims.

Parameters

• paths (List[str]) – Paths of prims to transform.

• paths_c (List[int]) – C++ compatible path representation.

• new_translations (List[float]) – New translations for the prims.

• new_rotation_eulers (List[float]) – New rotation angles in Euler form.

• new_rotation_orders (List[int]) – New rotation orders for the prims.

• new_scales (List[float]) – New scale values for the prims.

• old_translations (List[float]) – Previous translations for undo functionality.

• old_rotation_eulers (List[float]) – Previous rotations in Euler form for undo.

• old_rotation_orders (List[int]) – Previous rotation orders for undo functionality.

• old_scales (List[float]) – Previous scale values for undo functionality.

path_to_int(path: Path) → int

Converts an Sdf path to an integer representation.

Parameters

path (usdrt.Sdf.Path) – The path to convert.

Returns

The integer representation of the path.

Return type

int

prim_has_prefix(path: Path, prim_path: Path) → bool

Checks if the given path has the specified prefix.

Parameters

• path (usdrt.Sdf.Path) – The path to check for the prefix.

• prim_path (usdrt.Sdf.Path) – The prefix to check against the path.

Returns

True if the path has the prefix, False otherwise.

Return type

bool

remove_descendent_paths(paths: List[Path]) → List[Path]

Removes descendent paths from a list of paths.

Parameters

paths (List[usdrt.Sdf.Path]) – The list of paths to process.

Returns

The list of paths without descendents.

Return type

List[usdrt.Sdf.Path]

remove_update_callback(listener: pxr.Tf.Listener = None) → usdrt.Rt.ChangeTracker

Removes the update callback for changes.

Parameters

listener (Optional[pxr.Tf.Listener]) – The listener to remove.

Returns

None, indicating the callback has been removed.

Return type

usdrt.Rt.ChangeTracker

remove_update_callback_ref_prim_maker(listener: pxr.Tf.Listener = None) → usdrt.Rt.ChangeTracker

Removes the update callback reference to the prim maker.

Parameters

listener (Optional[pxr.Tf.Listener]) – The listener to remove.

Returns

None, indicating the callback has been removed.

Return type

usdrt.Rt.ChangeTracker

set_stage()

Sets the USD stage.

setup_update_callback() → ChangeTracker

Sets up the update callback for changes.

Returns

The change tracker instance.

Return type

usdrt.Rt.ChangeTracker

setup_update_callback_ref_prim_maker(func: Callable[[List, List[Union[Path, Path]], List[Union[Path, Path]], str], None]) → ChangeTracker

Sets up the update callback with a reference to the prim maker function.

Parameters

func (Callable) – The function to call when changes occur.

Returns

The change tracker instance.

Return type

usdrt.Rt.ChangeTracker

to_pxr_path(path: Union[Path, Path]) → Path

Converts a path to a pxr.Sdf.Path type.

Parameters

path (Union[usdrt.Sdf.Path, pxr.Sdf.Path]) – The path to convert.

Returns

The converted pxr path.

Return type

pxr.Sdf.Path

update_changes()

Updates changes in the USD stage.

update_xform_cache()

Updates the transform cache.

xform_set_time()

Sets the time for the transform cache.

property is_inited

Gets the initialization status of the FabricDataAccessor.

Returns

The initialization status.

Return type

bool

property priority: int

Gets the priority value of the FabricDataAccessor.

Returns

The priority value.

Return type

int

property priority_write: int

Gets the write priority value of the FabricDataAccessor.

Returns

The write priority value.

Return type

int

property usd_context

Gets the USD context associated with the FabricDataAccessor.

Returns

The USD context.

Return type

omni.usd.UsdContext