UsdPhysics module#

Summary: The UsdPhysics module defines the physics-related prim and property schemas that together form a physics simulation representation.

Classes:

class pxr.UsdPhysics.ArticulationRootAPI#

Methods:

`Apply`
`CanApply`
`Get`
`GetSchemaAttributeNames`

static Apply()#

static CanApply()#

static Get()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.CollisionAPI#

Methods:

`Apply`
`CanApply`
`CreateCollisionEnabledAttr`
`CreateSimulationOwnerRel`
`Get`
`GetCollisionEnabledAttr`
`GetSchemaAttributeNames`
`GetSimulationOwnerRel`

static Apply()#

static CanApply()#

CreateCollisionEnabledAttr()#

CreateSimulationOwnerRel()#

static Get()#

GetCollisionEnabledAttr()#

static GetSchemaAttributeNames()#

GetSimulationOwnerRel()#

class pxr.UsdPhysics.CollisionGroup#

Methods:

`ComputeCollisionGroupTable`
`CreateFilteredGroupsRel`
`CreateInvertFilteredGroupsAttr`
`CreateMergeGroupNameAttr`
`Define`
`Get`
`GetCollidersCollectionAPI`
`GetFilteredGroupsRel`
`GetInvertFilteredGroupsAttr`
`GetMergeGroupNameAttr`
`GetSchemaAttributeNames`

static ComputeCollisionGroupTable()#

CreateFilteredGroupsRel()#

CreateInvertFilteredGroupsAttr()#

CreateMergeGroupNameAttr()#

static Define()#

static Get()#

GetCollidersCollectionAPI()#

GetFilteredGroupsRel()#

GetInvertFilteredGroupsAttr()#

GetMergeGroupNameAttr()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.CollisionGroupTable#

Methods:

`GetGroups`
`IsCollisionEnabled`

GetGroups()#

IsCollisionEnabled()#

class pxr.UsdPhysics.DistanceJoint#

Methods:

`CreateMaxDistanceAttr`
`CreateMinDistanceAttr`
`Define`
`Get`
`GetMaxDistanceAttr`
`GetMinDistanceAttr`
`GetSchemaAttributeNames`

CreateMaxDistanceAttr()#

CreateMinDistanceAttr()#

static Define()#

static Get()#

GetMaxDistanceAttr()#

GetMinDistanceAttr()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.DriveAPI#

Methods:

`Apply`
`CanApply`
`CreateDampingAttr`
`CreateMaxForceAttr`
`CreateStiffnessAttr`
`CreateTargetPositionAttr`
`CreateTargetVelocityAttr`
`CreateTypeAttr`
`Get`
`GetAll`
`GetDampingAttr`
`GetMaxForceAttr`
`GetSchemaAttributeNames`
`GetStiffnessAttr`
`GetTargetPositionAttr`
`GetTargetVelocityAttr`
`GetTypeAttr`
`IsPhysicsDriveAPIPath`

static Apply()#

static CanApply()#

CreateDampingAttr()#

CreateMaxForceAttr()#

CreateStiffnessAttr()#

CreateTargetPositionAttr()#

CreateTargetVelocityAttr()#

CreateTypeAttr()#

static Get()#

static GetAll()#

GetDampingAttr()#

GetMaxForceAttr()#

static GetSchemaAttributeNames()#

GetStiffnessAttr()#

GetTargetPositionAttr()#

GetTargetVelocityAttr()#

GetTypeAttr()#

static IsPhysicsDriveAPIPath()#

class pxr.UsdPhysics.FilteredPairsAPI#

Methods:

`Apply`
`CanApply`
`CreateFilteredPairsRel`
`Get`
`GetFilteredPairsRel`
`GetSchemaAttributeNames`

static Apply()#

static CanApply()#

CreateFilteredPairsRel()#

static Get()#

GetFilteredPairsRel()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.FixedJoint#

Methods:

`Define`
`Get`
`GetSchemaAttributeNames`

static Define()#

static Get()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.Joint#

Methods:

CreateBody0Rel()#

CreateBody1Rel()#

CreateBreakForceAttr()#

CreateBreakTorqueAttr()#

CreateCollisionEnabledAttr()#

CreateExcludeFromArticulationAttr()#

CreateJointEnabledAttr()#

CreateLocalPos0Attr()#

CreateLocalPos1Attr()#

CreateLocalRot0Attr()#

CreateLocalRot1Attr()#

static Define()#

static Get()#

GetBody0Rel()#

GetBody1Rel()#

GetBreakForceAttr()#

GetBreakTorqueAttr()#

GetCollisionEnabledAttr()#

GetExcludeFromArticulationAttr()#

GetJointEnabledAttr()#

GetLocalPos0Attr()#

GetLocalPos1Attr()#

GetLocalRot0Attr()#

GetLocalRot1Attr()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.LimitAPI#

Methods:

`Apply`
`CanApply`
`CreateHighAttr`
`CreateLowAttr`
`Get`
`GetAll`
`GetHighAttr`
`GetLowAttr`
`GetSchemaAttributeNames`
`IsPhysicsLimitAPIPath`

static Apply()#

static CanApply()#

CreateHighAttr()#

CreateLowAttr()#

static Get()#

static GetAll()#

GetHighAttr()#

GetLowAttr()#

static GetSchemaAttributeNames()#

static IsPhysicsLimitAPIPath()#

class pxr.UsdPhysics.MassAPI#

Methods:

`Apply`
`CanApply`
`CreateCenterOfMassAttr`
`CreateDensityAttr`
`CreateDiagonalInertiaAttr`
`CreateMassAttr`
`CreatePrincipalAxesAttr`
`Get`
`GetCenterOfMassAttr`
`GetDensityAttr`
`GetDiagonalInertiaAttr`
`GetMassAttr`
`GetPrincipalAxesAttr`
`GetSchemaAttributeNames`

static Apply()#

static CanApply()#

CreateCenterOfMassAttr()#

CreateDensityAttr()#

CreateDiagonalInertiaAttr()#

CreateMassAttr()#

CreatePrincipalAxesAttr()#

static Get()#

GetCenterOfMassAttr()#

GetDensityAttr()#

GetDiagonalInertiaAttr()#

GetMassAttr()#

GetPrincipalAxesAttr()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.MassUnits#

Attributes:

`grams`
`kilograms`
`slugs`

grams = 0.001#

kilograms = 1.0#

slugs = 14.5939#

class pxr.UsdPhysics.MaterialAPI#

Methods:

`Apply`
`CanApply`
`CreateDensityAttr`
`CreateDynamicFrictionAttr`
`CreateRestitutionAttr`
`CreateStaticFrictionAttr`
`Get`
`GetDensityAttr`
`GetDynamicFrictionAttr`
`GetRestitutionAttr`
`GetSchemaAttributeNames`
`GetStaticFrictionAttr`

static Apply()#

static CanApply()#

CreateDensityAttr()#

CreateDynamicFrictionAttr()#

CreateRestitutionAttr()#

CreateStaticFrictionAttr()#

static Get()#

GetDensityAttr()#

GetDynamicFrictionAttr()#

GetRestitutionAttr()#

static GetSchemaAttributeNames()#

GetStaticFrictionAttr()#

class pxr.UsdPhysics.MeshCollisionAPI#

Methods:

`Apply`
`CanApply`
`CreateApproximationAttr`
`Get`
`GetApproximationAttr`
`GetSchemaAttributeNames`

static Apply()#

static CanApply()#

CreateApproximationAttr()#

static Get()#

GetApproximationAttr()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.PrismaticJoint#

Methods:

`CreateAxisAttr`
`CreateLowerLimitAttr`
`CreateUpperLimitAttr`
`Define`
`Get`
`GetAxisAttr`
`GetLowerLimitAttr`
`GetSchemaAttributeNames`
`GetUpperLimitAttr`

CreateAxisAttr()#

CreateLowerLimitAttr()#

CreateUpperLimitAttr()#

static Define()#

static Get()#

GetAxisAttr()#

GetLowerLimitAttr()#

static GetSchemaAttributeNames()#

GetUpperLimitAttr()#

class pxr.UsdPhysics.RevoluteJoint#

Methods:

`CreateAxisAttr`
`CreateLowerLimitAttr`
`CreateUpperLimitAttr`
`Define`
`Get`
`GetAxisAttr`
`GetLowerLimitAttr`
`GetSchemaAttributeNames`
`GetUpperLimitAttr`

CreateAxisAttr()#

CreateLowerLimitAttr()#

CreateUpperLimitAttr()#

static Define()#

static Get()#

GetAxisAttr()#

GetLowerLimitAttr()#

static GetSchemaAttributeNames()#

GetUpperLimitAttr()#

class pxr.UsdPhysics.RigidBodyAPI#

Classes:

MassInformation

Methods:

`Apply`
`CanApply`
`ComputeMassProperties`
`CreateAngularVelocityAttr`
`CreateKinematicEnabledAttr`
`CreateRigidBodyEnabledAttr`
`CreateSimulationOwnerRel`
`CreateStartsAsleepAttr`
`CreateVelocityAttr`
`Get`
`GetAngularVelocityAttr`
`GetKinematicEnabledAttr`
`GetRigidBodyEnabledAttr`
`GetSchemaAttributeNames`
`GetSimulationOwnerRel`
`GetStartsAsleepAttr`
`GetVelocityAttr`

class MassInformation#

Attributes:

`centerOfMass`
`inertia`
`localPos`
`localRot`
`volume`

property centerOfMass#

property inertia#

property localPos#

property localRot#

property volume#

static Apply()#

static CanApply()#

ComputeMassProperties()#

CreateAngularVelocityAttr()#

CreateKinematicEnabledAttr()#

CreateRigidBodyEnabledAttr()#

CreateSimulationOwnerRel()#

CreateStartsAsleepAttr()#

CreateVelocityAttr()#

static Get()#

GetAngularVelocityAttr()#

GetKinematicEnabledAttr()#

GetRigidBodyEnabledAttr()#

static GetSchemaAttributeNames()#

GetSimulationOwnerRel()#

GetStartsAsleepAttr()#

GetVelocityAttr()#

class pxr.UsdPhysics.Scene#

Methods:

`CreateGravityDirectionAttr`
`CreateGravityMagnitudeAttr`
`Define`
`Get`
`GetGravityDirectionAttr`
`GetGravityMagnitudeAttr`
`GetSchemaAttributeNames`

CreateGravityDirectionAttr()#

CreateGravityMagnitudeAttr()#

static Define()#

static Get()#

GetGravityDirectionAttr()#

GetGravityMagnitudeAttr()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.SphericalJoint#

Methods:

`CreateAxisAttr`
`CreateConeAngle0LimitAttr`
`CreateConeAngle1LimitAttr`
`Define`
`Get`
`GetAxisAttr`
`GetConeAngle0LimitAttr`
`GetConeAngle1LimitAttr`
`GetSchemaAttributeNames`

CreateAxisAttr()#

CreateConeAngle0LimitAttr()#

CreateConeAngle1LimitAttr()#

static Define()#

static Get()#

GetAxisAttr()#

GetConeAngle0LimitAttr()#

GetConeAngle1LimitAttr()#

static GetSchemaAttributeNames()#

class pxr.UsdPhysics.Tokens#

Attributes:

`PhysicsArticulationRootAPI`
`PhysicsCollisionAPI`
`PhysicsCollisionGroup`
`PhysicsDistanceJoint`
`PhysicsDriveAPI`
`PhysicsFilteredPairsAPI`
`PhysicsFixedJoint`
`PhysicsJoint`
`PhysicsLimitAPI`
`PhysicsMassAPI`
`PhysicsMaterialAPI`
`PhysicsMeshCollisionAPI`
`PhysicsPrismaticJoint`
`PhysicsRevoluteJoint`
`PhysicsRigidBodyAPI`
`PhysicsScene`
`PhysicsSphericalJoint`
`acceleration`
`angular`
`boundingCube`
`boundingSphere`
`colliders`
`convexDecomposition`
`convexHull`
`distance`
`drive`
`drive_MultipleApplyTemplate_PhysicsDamping`
`drive_MultipleApplyTemplate_PhysicsMaxForce`
`drive_MultipleApplyTemplate_PhysicsStiffness`
`drive_MultipleApplyTemplate_PhysicsTargetPosition`
`drive_MultipleApplyTemplate_PhysicsTargetVelocity`
`drive_MultipleApplyTemplate_PhysicsType`
`force`
`kilogramsPerUnit`
`limit`
`limit_MultipleApplyTemplate_PhysicsHigh`
`limit_MultipleApplyTemplate_PhysicsLow`
`linear`
`meshSimplification`
`none`
`physicsAngularVelocity`
`physicsApproximation`
`physicsAxis`
`physicsBody0`
`physicsBody1`
`physicsBreakForce`
`physicsBreakTorque`
`physicsCenterOfMass`
`physicsCollisionEnabled`
`physicsConeAngle0Limit`
`physicsConeAngle1Limit`
`physicsDensity`
`physicsDiagonalInertia`
`physicsDynamicFriction`
`physicsExcludeFromArticulation`
`physicsFilteredGroups`
`physicsFilteredPairs`
`physicsGravityDirection`
`physicsGravityMagnitude`
`physicsInvertFilteredGroups`
`physicsJointEnabled`
`physicsKinematicEnabled`
`physicsLocalPos0`
`physicsLocalPos1`
`physicsLocalRot0`
`physicsLocalRot1`
`physicsLowerLimit`
`physicsMass`
`physicsMaxDistance`
`physicsMergeGroup`
`physicsMinDistance`
`physicsPrincipalAxes`
`physicsRestitution`
`physicsRigidBodyEnabled`
`physicsSimulationOwner`
`physicsStartsAsleep`
`physicsStaticFriction`
`physicsUpperLimit`
`physicsVelocity`
`rotX`
`rotY`
`rotZ`
`transX`
`transY`
`transZ`
`x`
`y`
`z`

PhysicsArticulationRootAPI = 'PhysicsArticulationRootAPI'#

PhysicsCollisionAPI = 'PhysicsCollisionAPI'#

PhysicsCollisionGroup = 'PhysicsCollisionGroup'#

PhysicsDistanceJoint = 'PhysicsDistanceJoint'#

PhysicsDriveAPI = 'PhysicsDriveAPI'#

PhysicsFilteredPairsAPI = 'PhysicsFilteredPairsAPI'#

PhysicsFixedJoint = 'PhysicsFixedJoint'#

PhysicsJoint = 'PhysicsJoint'#

PhysicsLimitAPI = 'PhysicsLimitAPI'#

PhysicsMassAPI = 'PhysicsMassAPI'#

PhysicsMaterialAPI = 'PhysicsMaterialAPI'#

PhysicsMeshCollisionAPI = 'PhysicsMeshCollisionAPI'#

PhysicsPrismaticJoint = 'PhysicsPrismaticJoint'#

PhysicsRevoluteJoint = 'PhysicsRevoluteJoint'#

PhysicsRigidBodyAPI = 'PhysicsRigidBodyAPI'#

PhysicsScene = 'PhysicsScene'#

PhysicsSphericalJoint = 'PhysicsSphericalJoint'#

acceleration = 'acceleration'#

angular = 'angular'#

boundingCube = 'boundingCube'#

boundingSphere = 'boundingSphere'#

colliders = 'colliders'#

convexDecomposition = 'convexDecomposition'#

convexHull = 'convexHull'#

distance = 'distance'#

drive = 'drive'#

drive_MultipleApplyTemplate_PhysicsDamping = 'drive:__INSTANCE_NAME__:physics:damping'#

drive_MultipleApplyTemplate_PhysicsMaxForce = 'drive:__INSTANCE_NAME__:physics:maxForce'#

drive_MultipleApplyTemplate_PhysicsStiffness = 'drive:__INSTANCE_NAME__:physics:stiffness'#

drive_MultipleApplyTemplate_PhysicsTargetPosition = 'drive:__INSTANCE_NAME__:physics:targetPosition'#

drive_MultipleApplyTemplate_PhysicsTargetVelocity = 'drive:__INSTANCE_NAME__:physics:targetVelocity'#

drive_MultipleApplyTemplate_PhysicsType = 'drive:__INSTANCE_NAME__:physics:type'#

force = 'force'#

kilogramsPerUnit = 'kilogramsPerUnit'#

limit = 'limit'#

limit_MultipleApplyTemplate_PhysicsHigh = 'limit:__INSTANCE_NAME__:physics:high'#

limit_MultipleApplyTemplate_PhysicsLow = 'limit:__INSTANCE_NAME__:physics:low'#

linear = 'linear'#

meshSimplification = 'meshSimplification'#

none = 'none'#

physicsAngularVelocity = 'physics:angularVelocity'#

physicsApproximation = 'physics:approximation'#

physicsAxis = 'physics:axis'#

physicsBody0 = 'physics:body0'#

physicsBody1 = 'physics:body1'#

physicsBreakForce = 'physics:breakForce'#

physicsBreakTorque = 'physics:breakTorque'#

physicsCenterOfMass = 'physics:centerOfMass'#

physicsCollisionEnabled = 'physics:collisionEnabled'#

physicsConeAngle0Limit = 'physics:coneAngle0Limit'#

physicsConeAngle1Limit = 'physics:coneAngle1Limit'#

physicsDensity = 'physics:density'#

physicsDiagonalInertia = 'physics:diagonalInertia'#

physicsDynamicFriction = 'physics:dynamicFriction'#

physicsExcludeFromArticulation = 'physics:excludeFromArticulation'#

physicsFilteredGroups = 'physics:filteredGroups'#

physicsFilteredPairs = 'physics:filteredPairs'#

physicsGravityDirection = 'physics:gravityDirection'#

physicsGravityMagnitude = 'physics:gravityMagnitude'#

physicsInvertFilteredGroups = 'physics:invertFilteredGroups'#

physicsJointEnabled = 'physics:jointEnabled'#

physicsKinematicEnabled = 'physics:kinematicEnabled'#

physicsLocalPos0 = 'physics:localPos0'#

physicsLocalPos1 = 'physics:localPos1'#

physicsLocalRot0 = 'physics:localRot0'#

physicsLocalRot1 = 'physics:localRot1'#

physicsLowerLimit = 'physics:lowerLimit'#

physicsMass = 'physics:mass'#

physicsMaxDistance = 'physics:maxDistance'#

physicsMergeGroup = 'physics:mergeGroup'#

physicsMinDistance = 'physics:minDistance'#

physicsPrincipalAxes = 'physics:principalAxes'#

physicsRestitution = 'physics:restitution'#

physicsRigidBodyEnabled = 'physics:rigidBodyEnabled'#

physicsSimulationOwner = 'physics:simulationOwner'#

physicsStartsAsleep = 'physics:startsAsleep'#

physicsStaticFriction = 'physics:staticFriction'#

physicsUpperLimit = 'physics:upperLimit'#

physicsVelocity = 'physics:velocity'#

rotX = 'rotX'#

rotY = 'rotY'#

rotZ = 'rotZ'#

transX = 'transX'#

transY = 'transY'#

transZ = 'transZ'#

x = 'X'#

y = 'Y'#

z = 'Z'#

`ArticulationRootAPI`
`CollisionAPI`
`CollisionGroup`
`CollisionGroupTable`
`DistanceJoint`
`DriveAPI`
`FilteredPairsAPI`
`FixedJoint`
`Joint`
`LimitAPI`
`MassAPI`
`MassUnits`
`MaterialAPI`
`MeshCollisionAPI`
`PrismaticJoint`
`RevoluteJoint`
`RigidBodyAPI`
`Scene`
`SphericalJoint`
`Tokens`

`CreateBody0Rel`
`CreateBody1Rel`
`CreateBreakForceAttr`
`CreateBreakTorqueAttr`
`CreateCollisionEnabledAttr`
`CreateExcludeFromArticulationAttr`
`CreateJointEnabledAttr`
`CreateLocalPos0Attr`
`CreateLocalPos1Attr`
`CreateLocalRot0Attr`
`CreateLocalRot1Attr`
`Define`
`Get`
`GetBody0Rel`
`GetBody1Rel`
`GetBreakForceAttr`
`GetBreakTorqueAttr`
`GetCollisionEnabledAttr`
`GetExcludeFromArticulationAttr`
`GetJointEnabledAttr`
`GetLocalPos0Attr`
`GetLocalPos1Attr`
`GetLocalRot0Attr`
`GetLocalRot1Attr`
`GetSchemaAttributeNames`