Changelog#

7.6.0 (10/09/24)#

Fixed#

  • USDRT - USDRT SdfPath less-than operator should behave the same as USD. [OMPE-18389]

Improved#

  • USDRT - Many improvements to Fabric Hierarchy and Connectivity targeting robotics and physics use cases enabling thousands of changes per frame. [OMPE-20759]

7.5.1 (09/22/24)#

Added#

  • USDRT - Add C++ api docs in kit-sdk documentation. Ensure linking docs from kit-manual works. [OMPE-13843]

  • USDRT - USDRT VtArray python bindings refactor to use pybind trampoline class & ensure GIL safety. [OMPE-14425]

  • USDRT - Add Semantics Schema support [OMPE-14569]

  • USDRT - Add support for multiple apply api schema ::Apply [OM-119535]

  • USDRT - Add validation to api schema apply functions [OM-119536]

  • USDRT - add UsdPrim::GetAllChildren, GetChildrenNames, and GetAllChildrenNames [OM-80310]

  • USDRT - OM-123836 add VtArray::cspan

  • IFabricHierarchy for standardized transforms with Fabric [OM-96719]

  • USDRT - usdrt UsdPrim::HasProperty and GetPropertyNames [OM-98778]

Fixed#

  • USDRT - USDRT VtArray pybind cleanup to avoid expensive cast exception when using numpy [OMPE-18960]

  • USDRT - Update Usd.AccessType type to int enum in python bindings [OM-104136]

  • USDRT - fix GfRange default value to match USD [OM-105217]

  • USDRT - Use C++17 inline variable for SdfValueTypeNames instance [OM-121248]

  • USDRT - DefinePrim: use provided type in fabric for unregistered schemas [OM-103068]

  • USDRT - fix crash creating fabric world matrix attr when it already exists [OM-122386]

  • USDRT - fix population and schema apply tagging in fabric for multiple-apply schemas [OM-122248]

  • USDRT - Skip prefetch valueless attributes in fabric [OM-117937]

  • USDRT - sync schema tags to fabric in UsdNoticeHandler [OM-122248]

Developer Updates#

  • USDRT - Move source code and documentation into kit repo. Documentation is now bundled in with kit-sdk (OM-121095, OM-123751)

  • USDRT: Get usdGenSchema working in kit repo [OM-121176]

7.5.0 (02/01/24)#

  • OM-103434: Add pybind args to SdfPath

  • OM-99781: RtChangeTracker added prims

  • OM-119110: Add apply to single apply api schemas

  • OM-118962: usdGenSchema: Support custom includes, template format tweaks

  • OM-118637: Schema custom declaration code

7.4.9 (01/18/24)#

  • SceneGraph: Add TfToken::size

  • SceneGraph: Add checks for result

7.4.8 (01/10/24)#

  • Expose TfToken python conversion

  • Added missing header include in Scenegraph API

  • Report failure in RtPath::getPrefixes

  • OM-117847: Stage::GetAttributeAtPath: check fabric for attributes not in usd

7.4.7 (01/04/24)#

  • Added docstrings to C++ headers

7.4.6 (12/15/23)#

  • No changes to USDRT Scenegraph API

7.4.5 (12/11/23)#

  • Root prims fall back to USD for relational calls

7.4.4 (12/10/23)#

  • Perf fix for IXformCache

7.4.3 (12/08/23)#

  • Add pathC property to SdfPath in python bindings

  • Use Fabric Connectivity to resolve scenegraph relational calls (GetChildren etc) when FSD is enabled

  • Documentation updates

  • Add IFabricHierarchy support to Rt schema

7.4.2 (11/13/23)#

  • RtXformable will initialize default values for position orientation and scale

  • UsdPrim::IsValid returns false if Fabric prim does not exist

  • Moving constructor and operator for SdfPath and TfToken

7.4.1 (11/03/23)#

  • Added UsdSkel to USDRT Scenegraph API

7.4.0 (10/16/23)#

  • Fix includes in SdfPath

  • Fix bug in Gf with Decompose

  • Add Gf type traits

  • Add GfBbox3d GfFrustum GfLine GfLineSeg GfPlane GfRay

7.3.6 (9/20/23)#

  • Several fixes for SdfPath implementation

7.3.5 (9/14/23)#

  • No changes to USDRT Scenegraph API

7.3.4 (9/12/23)#

  • No changes to USDRT Scenegraph API

7.3.3 (9/6/23)#

  • No changes to USDRT Scenegraph API

7.3.2 (8/28/23)#

  • SdfPath bugfixes

7.3.1 (8/4/23)#

  • Adds GfTransform class

  • Adds GfMatrix Factor

  • Fix GfRange default value in Python

7.3.0 (8/4/23)#

  • Adds GfRotation support

  • Adds RtSelection class and Stage selection support

  • Minor bugfixes

7.2.15 (7/21/23)#

  • Gf python string format match USD

  • SdfPath prefix bugfix

7.2.14 (7/14/23)#

  • Bugfix for UsdAttribute and UsdRelationship GetStage()

  • Bugfix in IXformCache to avoid crash on exit

7.2.13 (7/11/23)#

  • Improved safety around UsdStage interfaces

  • Fixed bug with UsdPrim::GetStage

  • Fixed bug with UsdSchemaRegistry::GetAliasFromName

  • Fixed bugs with SdfPath APIs added in 7.2.11, made public interface C++14 compliant

  • Stage queries can discover prims outside the USD schema registry

7.2.12 (7/5/23)#

  • SdfPath now hashable in Python

  • API schema calls now support complete name or alias

7.2.11 (7/3/23)#

  • Schema class now have static Define method

  • Added many SdfPath helper APIs

7.2.10 (6/23/23)#

  • Fix hang in IXformCache on shutdown

7.2.8 (6/13/23)#

  • Gf types and VtArray support implicit creation from sequences where USD equivalents do

7.2.7 (6/5/23)#

  • Adds bool operators for schemas

7.2.6 (5/31/23)#

  • Updated testing for invalid prim and attribute calls

7.2.5 (5/26/23)#

  • Fix RemovePrim handling

7.2.4 (5/18/23)#

  • SdfPathSet and SdfPath cpp tests

7.2.3 (5/15/23)#

  • Ensure no crashes when invalid prim in scenegraph API

7.2.2 (5/11/23)#

  • No functional changes

7.2.1 (5/10/23)#

  • Fix crash on creating attribute on invalid prim

7.2.0 (5/9/23)#

  • Add API schema methods on UsdPrim

7.1.1 (4/25/23)#

  • Fixes for buffer protocol support

7.1.0 (4/18/23)#

  • Validate boolean operator and IsValid for typeless prims

  • Adds SchemaRegistry implementation and schema typing support

  • DefinePrim always authors Fabric type using alias, and also adds ancestor tags

  • Supporting more types when writing usd attributes to fabric

  • Add SdfAssetPath support to usdrt

  • Ensure that prototype proxies are represented by stage queries

7.0.5 (3/27/23)#

  • Both aliases and complete types are now supported for stage queries

  • Stage query optimization while Fabric Scene Delegate is active

7.0.4 (3/22/23)#

  • No functional changes

7.0.3 (3/21/23)#

  • No functional changes

7.0.1 (3/17/23)#

  • No functional changes

7.0.0 (3/12/23)#

  • Update to USD-22.11

6.0.14 (3/10/23)#

  • UsdStage::StageWithHistoryExists pybindings accept long int instead of uint64_t

  • GetPathElementCount added to SdfPath

6.0.12 (2/28/23)#

  • support GPU interop for 1d warp arrays with VtArray

  • add deprecated API support for Fabric rebrand in scenegraph stage

  • Only prefetch single attribute for UsdStage::GetAttributeAtPath

6.0.11 (2/27/23)#

  • Adds connection support for UsdAttribute

  • Fix for flaky tests on Linux

6.0.9 (2/14/23)#

  • Fix for warp-0.7.0+ interop with VtArray

6.0.8 (2/9/23)#

  • Internal changes in support of Fabric improvements

6.0.7 (2/2/23)#

  • Small bugfixes

  • Additional documentation

  • Improved developer workflow

6.0.6 (1/29/23)#

  • Adds stage queries to Scenegraph API

  • Adds PyBind bindings for UsdTimeCode in Scenegraph API

  • Hide external libraries under usdrt_only subdir so they do not conflict in Kit

  • Fixed potential race condition in IXformCache

  • UsdStage::RemovePrim will also track the removed for FSD

  • Added PruneChildren to Scenegraph API PrimRange iterator

  • Fixed bug with UsdPrim::GetChildren Fabric population in Scenegraph API

6.0.5 (1/12/23)#

  • Add documentation on authoring geometry with USDRT for FSD

  • Add RtBoundable schema

  • Fix crash when authoring new geo to Fabric without primvars

  • Update documentation to use USDRT schema tokens

  • Fix for GetPrimAtPath with Fabric-only prims

  • Add RtChangeTracker API

6.0.4 (12/13/22)#

  • Fix regression in multi-target Relationship support

  • Adds support for API schemas (single and multiple apply)

6.0.1 (11/21/22)#

  • Adds Relationship support to schema classes

  • Adds multi-target Relationship support

6.0.0 (11/4/22)#

  • Added first round of USDRT pin-compatible schema class support

  • All Get/Create APIs for concrete schemas are implemented

  • Tokens classes for schemas are implemented

  • All schemas that ship with USD, and also UsdPhysics and PhysX schemas are represented

  • Support for API schemas to follow in subsequent release

  • Updated for Fabric rebrand

  • Fixed crash with calling UsdStage::WriteToLayer multiple times

  • Added CPU/GPU status queries for UsdAttribute

5.0.1 (10/17/22)#

  • Changes from 4.0.2 through 4.0.6 (mostly unrelated to Scenegraph API)

5.0.0 (9/22/22)#

  • Sync Fabric from Kit for multi-relationship support

4.0.3 (9/29/22)#

The USDRT Scenegraph ABI is STABLE for Kit-104 with this release

C++ extensions that are built with the USDRT Scenegraph C++ API using any 4.* extension version will be ABI-compatible with all future releases of the USDRT Scenegraph extension. Kit-104 will not move beyond the 4.* version of the USDRT Scenegraph API.

  • Adds GfRange and GfRect2i support

  • __repr__ for all pybind wrappers

  • Sdf.Path can be implicitly created from Python strings to match USD

  • Fix for potential crash-on-exit

4.0.0 (9/5/22)#

The USDRT Scenegraph ABI is STABLE for Kit-104 with this release

C++ extensions that are built with the USDRT Scenegraph C++ API using any 4.* extension version will be ABI-compatible with all future releases of the USDRT Sccenegraph extension. Kit-104 will not move beyond the 4.* version of the USDRT Scenegraph API.

  • Adds UsdStage::RemovePrim and UsdStage::HasPrimAtPath

  • Uses read- and write-specific Fabric APIs for improved change tracking

  • Improved error message with Usd.Attribute.Set and Get in Python for unsupported types

  • Always prefetch into Fabric on UsdPrim creation

  • Adds SdfValueTypeNames->Tag for creating Fabric tags on prims

  • str support on SdfPath

  • Adds RtXformable schema and documentation

  • Prepare for transition to multi-target relationships in Fabric

3.0.0 (7/13/22)#

The USDRT Scenegraph ABI is NOT stable for this release.

  • Additional RT Scenegraph APIs

    • UsdPrim::GetChildren

    • SdfPath::GetAncestorsRange

  • Added copy and deepcopy support to Gf Python bindings

2.0.0#

The USDRT Scenegraph ABI is NOT stable for this release.

  • Add missing APIs for Quat-related methods on usdrt.Gf.Matrix classes

  • Internal cleanup to use Fabric C++ wrappers

  • Add repr for VtArray python bindings

  • Add GetPseudoRoot to usdrt::UsdStage

  • Adds RT Scene Delegate

    • USD->Fabric population plugin

    • UJITSO mesh merging on load

    • Geometry streaming support

    • Viewer updates

    • New USDRT::GfRange3d and python bindings

  • Item accessors for Quat and Matrix Pyhon bindings

  • Adds vector-type methods for resizing VtArray

1.0.1#

The USDRT Scenegraph ABI is NOT stable for this release.

  • Added support for missing Attribute.Get/Set for Quat types in Python

    • Added tests to track remaining outstanding type support

  • Fixed Fabric types for Matrix data

  • Fixed GetStageReaderWriterId Python bindings

  • Added Stage.SetAttributeValue API to Python to shortcut Python overhead when setting multiple attribute values

1.0.0#

The USDRT Scenegraph ABI is NOT stable for this release.

  • Several new features for usdrt::VtArray

    • Python bindings support buffer protocol

    • Python bindings support __cuda_aray_interface__ for populating from GPU sources

    • Safer reads and writes from Fabric data

    • Renamed DetachFromFabric to DetachFromSource to reflect that VtArray may be referencing data from a buffer protocol input, a cuda array input, or a Fabric CPU or GPU memory input

  • usdrt::UsdStage::Attach will create a SimStageWithHistory for a StageId if one does not exist

  • Initial support for writeback to USD from USDRT from usdrt::UsdStage

    • WriteToLayer will write to an arbitrary external layer not in use on the underlying USD Stage

    • WriteToStage will write back to the underlying USD Stage

  • Update to 1.0.0 version number following reports of issue with 0.* versions, the RT Scenegraph ABI is still considered unstable and subject to breaking changes

0.5.1#

The USDRT Scenegraph ABI is NOT stable for this release.

Initial release of USDRT Scenegraph API for Kit.

This is an early release for experimentation and initial explorations with production integration.

On this page