UsdPhysics.md

UsdPhysics module — pxr-usd-api 105.1 documentation

pxr-usd-api

 »
Modules »
UsdPhysics module

 

# UsdPhysics module

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

Classes:

ArticulationRootAPI
PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations.

CollisionAPI
Applies collision attributes to a UsdGeomXformable prim.

CollisionGroup
Defines a collision group for coarse filtering.

CollisionGroupTable

DistanceJoint
Predefined distance joint type (Distance between rigid bodies may be limited to given minimum or maximum distance.)

DriveAPI
The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target.

FilteredPairsAPI
API to describe fine-grained filtering.

FixedJoint
Predefined fixed joint type (All degrees of freedom are removed.)

Joint
A joint constrains the movement of rigid bodies.

LimitAPI
The PhysicsLimitAPI can be applied to a PhysicsJoint and will restrict the movement along an axis.

MassAPI
Defines explicit mass properties (mass, density, inertia etc.).

MassUnits
Container class for static double-precision symbols representing common mass units of measure expressed in kilograms.

MaterialAPI
Adds simulation material properties to a Material.

MeshCollisionAPI
Attributes to control how a Mesh is made into a collider.

PrismaticJoint
Predefined prismatic joint type (translation along prismatic joint axis is permitted.)

RevoluteJoint
Predefined revolute joint type (rotation along revolute joint axis is permitted.)

RigidBodyAPI
Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation.

Scene
General physics simulation properties, required for simulation.

SphericalJoint
Predefined spherical joint type (Removes linear degrees of freedom, cone limit may restrict the motion in a given range.) It allows two limit values, which when equal create a circular, else an elliptic cone limit around the limit axis.

Tokens

class pxr.UsdPhysics.ArticulationRootAPI
PhysicsArticulationRootAPI can be applied to a scene graph node, and
marks the subtree rooted here for inclusion in one or more reduced
coordinate articulations. For floating articulations, this should be
on the root body. For fixed articulations (robotics jargon for e.g. a
robot arm for welding that is bolted to the floor), this API can be on
a direct or indirect parent of the root joint which is connected to
the world, or on the joint itself..
Methods:

Apply
classmethod Apply(prim) -> ArticulationRootAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

Get
classmethod Get(stage, path) -> ArticulationRootAPI

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

static Apply()
classmethod Apply(prim) -> ArticulationRootAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”PhysicsArticulationRootAPI”to the
token-valued, listOp metadata apiSchemas on the prim.
A valid UsdPhysicsArticulationRootAPI object is returned upon success.
An invalid (or empty) UsdPhysicsArticulationRootAPI object is returned
upon failure. See UsdPrim::ApplyAPI() for conditions resulting in
failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters
prim (Prim) – 

static CanApply()
classmethod CanApply(prim, whyNot) -> bool
Returns true if this single-apply API schema can be applied to the
given prim .
If this schema can not be a applied to the prim, this returns false
and, if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
whyNot (str) – 

static Get()
classmethod Get(stage, path) -> ArticulationRootAPI
Return a UsdPhysicsArticulationRootAPI holding the prim adhering to
this schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsArticulationRootAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.CollisionAPI
Applies collision attributes to a UsdGeomXformable prim. If a
simulation is running, this geometry will collide with other
geometries that have PhysicsCollisionAPI applied. If a prim in the
parent hierarchy has the RigidBodyAPI applied, this collider is a part
of that body. If there is no body in the parent hierarchy, this
collider is considered to be static.
Methods:

Apply
classmethod Apply(prim) -> CollisionAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

CreateCollisionEnabledAttr(defaultValue, ...)
See GetCollisionEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateSimulationOwnerRel()
See GetSimulationOwnerRel() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> CollisionAPI

GetCollisionEnabledAttr()
Determines if the PhysicsCollisionAPI is enabled.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

GetSimulationOwnerRel()
Single PhysicsScene that will simulate this collider.

static Apply()
classmethod Apply(prim) -> CollisionAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”PhysicsCollisionAPI”to the token-
valued, listOp metadata apiSchemas on the prim.
A valid UsdPhysicsCollisionAPI object is returned upon success. An
invalid (or empty) UsdPhysicsCollisionAPI object is returned upon
failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters
prim (Prim) – 

static CanApply()
classmethod CanApply(prim, whyNot) -> bool
Returns true if this single-apply API schema can be applied to the
given prim .
If this schema can not be a applied to the prim, this returns false
and, if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
whyNot (str) – 

CreateCollisionEnabledAttr(defaultValue, writeSparsely) → Attribute
See GetCollisionEnabledAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateSimulationOwnerRel() → Relationship
See GetSimulationOwnerRel() , and also Create vs Get Property Methods
for when to use Get vs Create.

static Get()
classmethod Get(stage, path) -> CollisionAPI
Return a UsdPhysicsCollisionAPI holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsCollisionAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetCollisionEnabledAttr() → Attribute
Determines if the PhysicsCollisionAPI is enabled.
Declaration
bool physics:collisionEnabled = 1
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

GetSimulationOwnerRel() → Relationship
Single PhysicsScene that will simulate this collider.
By default this object belongs to the first PhysicsScene. Note that if
a RigidBodyAPI in the hierarchy above has a different simulationOwner
then it has a precedence over this relationship.

class pxr.UsdPhysics.CollisionGroup
Defines a collision group for coarse filtering. When a collision
occurs between two objects that have a PhysicsCollisionGroup assigned,
they will collide with each other unless this PhysicsCollisionGroup
pair is filtered. See filteredGroups attribute.
A CollectionAPI:colliders maintains a list of PhysicsCollisionAPI
rel-s that defines the members of this Collisiongroup.
Methods:

ComputeCollisionGroupTable
classmethod ComputeCollisionGroupTable(stage) -> CollisionGroupTable

CreateFilteredGroupsRel()
See GetFilteredGroupsRel() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateInvertFilteredGroupsAttr(defaultValue, ...)
See GetInvertFilteredGroupsAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateMergeGroupNameAttr(defaultValue, ...)
See GetMergeGroupNameAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Define
classmethod Define(stage, path) -> CollisionGroup

Get
classmethod Get(stage, path) -> CollisionGroup

GetCollidersCollectionAPI()
Return the UsdCollectionAPI interface used for defining what colliders belong to the CollisionGroup.

GetFilteredGroupsRel()
References a list of PhysicsCollisionGroups with which collisions should be ignored.

GetInvertFilteredGroupsAttr()
Normally, the filter will disable collisions against the selected filter groups.

GetMergeGroupNameAttr()
If non-empty, any collision groups in a stage with a matching mergeGroup should be considered to refer to the same collection.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

static ComputeCollisionGroupTable()
classmethod ComputeCollisionGroupTable(stage) -> CollisionGroupTable
Compute a table encoding all the collision groups filter rules for a
stage.
This can be used as a reference to validate an implementation of the
collision groups filters. The returned table is diagonally symmetric.

Parameters
stage (Stage) – 

CreateFilteredGroupsRel() → Relationship
See GetFilteredGroupsRel() , and also Create vs Get Property Methods
for when to use Get vs Create.

CreateInvertFilteredGroupsAttr(defaultValue, writeSparsely) → Attribute
See GetInvertFilteredGroupsAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateMergeGroupNameAttr(defaultValue, writeSparsely) → Attribute
See GetMergeGroupNameAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Define()
classmethod Define(stage, path) -> CollisionGroup
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> CollisionGroup
Return a UsdPhysicsCollisionGroup holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsCollisionGroup(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetCollidersCollectionAPI() → CollectionAPI
Return the UsdCollectionAPI interface used for defining what colliders
belong to the CollisionGroup.

GetFilteredGroupsRel() → Relationship
References a list of PhysicsCollisionGroups with which collisions
should be ignored.

GetInvertFilteredGroupsAttr() → Attribute
Normally, the filter will disable collisions against the selected
filter groups.
However, if this option is set, the filter will disable collisions
against all colliders except for those in the selected filter groups.
Declaration
bool physics:invertFilteredGroups
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool

GetMergeGroupNameAttr() → Attribute
If non-empty, any collision groups in a stage with a matching
mergeGroup should be considered to refer to the same collection.
Matching collision groups should behave as if there were a single
group containing referenced colliders and filter groups from both
collections.
Declaration
string physics:mergeGroup
C++ Type
std::string
Usd Type
SdfValueTypeNames->String

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.CollisionGroupTable
Methods:

GetGroups

IsCollisionEnabled

GetGroups()

IsCollisionEnabled()

class pxr.UsdPhysics.DistanceJoint
Predefined distance joint type (Distance between rigid bodies may be
limited to given minimum or maximum distance.)
Methods:

CreateMaxDistanceAttr(defaultValue, ...)
See GetMaxDistanceAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateMinDistanceAttr(defaultValue, ...)
See GetMinDistanceAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Define
classmethod Define(stage, path) -> DistanceJoint

Get
classmethod Get(stage, path) -> DistanceJoint

GetMaxDistanceAttr()
Maximum distance.

GetMinDistanceAttr()
Minimum distance.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

CreateMaxDistanceAttr(defaultValue, writeSparsely) → Attribute
See GetMaxDistanceAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateMinDistanceAttr(defaultValue, writeSparsely) → Attribute
See GetMinDistanceAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Define()
classmethod Define(stage, path) -> DistanceJoint
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> DistanceJoint
Return a UsdPhysicsDistanceJoint holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsDistanceJoint(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetMaxDistanceAttr() → Attribute
Maximum distance.
If attribute is negative, the joint is not limited. Units: distance.
Declaration
float physics:maxDistance = -1
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetMinDistanceAttr() → Attribute
Minimum distance.
If attribute is negative, the joint is not limited. Units: distance.
Declaration
float physics:minDistance = -1
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.DriveAPI
The PhysicsDriveAPI when applied to any joint primitive will drive the
joint towards a given target. The PhysicsDriveAPI is a multipleApply
schema: drive can be set per
axis”transX”,”transY”,”transZ”,”rotX”,”rotY”,”rotZ”or its”linear”for
prismatic joint or”angular”for revolute joints. Setting these as a
multipleApply schema TfToken name will define the degree of freedom
the DriveAPI is applied to. Each drive is an implicit force-limited
damped spring: Force or acceleration = stiffness * (targetPosition -
position)

damping * (targetVelocity - velocity)

For any described attribute Fallback Value or Allowed Values
below that are text/tokens, the actual token is published and defined
in UsdPhysicsTokens. So to set an attribute to the value”rightHanded”,
use UsdPhysicsTokens->rightHanded as the value.
Methods:

Apply
classmethod Apply(prim, name) -> DriveAPI

CanApply
classmethod CanApply(prim, name, whyNot) -> bool

CreateDampingAttr(defaultValue, writeSparsely)
See GetDampingAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateMaxForceAttr(defaultValue, writeSparsely)
See GetMaxForceAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateStiffnessAttr(defaultValue, writeSparsely)
See GetStiffnessAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateTargetPositionAttr(defaultValue, ...)
See GetTargetPositionAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateTargetVelocityAttr(defaultValue, ...)
See GetTargetVelocityAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateTypeAttr(defaultValue, writeSparsely)
See GetTypeAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> DriveAPI

GetAll
classmethod GetAll(prim) -> list[DriveAPI]

GetDampingAttr()
Damping of the drive.

GetMaxForceAttr()
Maximum force that can be applied to drive.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

GetStiffnessAttr()
Stiffness of the drive.

GetTargetPositionAttr()
Target value for position.

GetTargetVelocityAttr()
Target value for velocity.

GetTypeAttr()
Drive spring is for the acceleration at the joint (rather than the force).

IsPhysicsDriveAPIPath
classmethod IsPhysicsDriveAPIPath(path, name) -> bool

static Apply()
classmethod Apply(prim, name) -> DriveAPI
Applies this multiple-apply API schema to the given prim along
with the given instance name, name .
This information is stored by adding”PhysicsDriveAPI:<i>name</i>”to
the token-valued, listOp metadata apiSchemas on the prim. For
example, if name is’instance1’, the
token’PhysicsDriveAPI:instance1’is added to’apiSchemas’.
A valid UsdPhysicsDriveAPI object is returned upon success. An invalid
(or empty) UsdPhysicsDriveAPI object is returned upon failure. See
UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
name (str) – 

static CanApply()
classmethod CanApply(prim, name, whyNot) -> bool
Returns true if this multiple-apply API schema can be applied,
with the given instance name, name , to the given prim .
If this schema can not be a applied the prim, this returns false and,
if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
name (str) – 
whyNot (str) – 

CreateDampingAttr(defaultValue, writeSparsely) → Attribute
See GetDampingAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateMaxForceAttr(defaultValue, writeSparsely) → Attribute
See GetMaxForceAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateStiffnessAttr(defaultValue, writeSparsely) → Attribute
See GetStiffnessAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateTargetPositionAttr(defaultValue, writeSparsely) → Attribute
See GetTargetPositionAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateTargetVelocityAttr(defaultValue, writeSparsely) → Attribute
See GetTargetVelocityAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateTypeAttr(defaultValue, writeSparsely) → Attribute
See GetTypeAttr() , and also Create vs Get Property Methods for when
to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Get()
classmethod Get(stage, path) -> DriveAPI
Return a UsdPhysicsDriveAPI holding the prim adhering to this schema
at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
path must be of the format<path>.drive:name.
This is shorthand for the following:
TfToken name = SdfPath::StripNamespace(path.GetToken());
UsdPhysicsDriveAPI(
    stage->GetPrimAtPath(path.GetPrimPath()), name);

Parameters

stage (Stage) – 
path (Path) – 

Get(prim, name) -> DriveAPI
Return a UsdPhysicsDriveAPI with name name holding the prim
prim .
Shorthand for UsdPhysicsDriveAPI(prim, name);

Parameters

prim (Prim) – 
name (str) – 

static GetAll()
classmethod GetAll(prim) -> list[DriveAPI]
Return a vector of all named instances of UsdPhysicsDriveAPI on the
given prim .

Parameters
prim (Prim) – 

GetDampingAttr() → Attribute
Damping of the drive.
Units: if linear drive: mass/second If angular drive:
mass*DIST_UNITS*DIST_UNITS/second/second/degrees.
Declaration
float physics:damping = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetMaxForceAttr() → Attribute
Maximum force that can be applied to drive.
Units: if linear drive: mass*DIST_UNITS/second/second if angular
drive: mass*DIST_UNITS*DIST_UNITS/second/second inf means not
limited. Must be non-negative.
Declaration
float physics:maxForce = inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

GetSchemaAttributeNames(includeInherited, instanceName) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes for a given instance name.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved. The names returned will have the
proper namespace prefix.

Parameters

includeInherited (bool) – 
instanceName (str) – 

GetStiffnessAttr() → Attribute
Stiffness of the drive.
Units: if linear drive: mass/second/second if angular drive:
mass*DIST_UNITS*DIST_UNITS/degree/second/second.
Declaration
float physics:stiffness = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetTargetPositionAttr() → Attribute
Target value for position.
Units: if linear drive: distance if angular drive: degrees.
Declaration
float physics:targetPosition = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetTargetVelocityAttr() → Attribute
Target value for velocity.
Units: if linear drive: distance/second if angular drive:
degrees/second.
Declaration
float physics:targetVelocity = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetTypeAttr() → Attribute
Drive spring is for the acceleration at the joint (rather than the
force).
Declaration
uniform token physics:type ="force"
C++ Type
TfToken
Usd Type
SdfValueTypeNames->Token
Variability
SdfVariabilityUniform
Allowed Values
force, acceleration

static IsPhysicsDriveAPIPath()
classmethod IsPhysicsDriveAPIPath(path, name) -> bool
Checks if the given path path is of an API schema of type
PhysicsDriveAPI.
If so, it stores the instance name of the schema in name and
returns true. Otherwise, it returns false.

Parameters

path (Path) – 
name (str) – 

class pxr.UsdPhysics.FilteredPairsAPI
API to describe fine-grained filtering. If a collision between two
objects occurs, this pair might be filtered if the pair is defined
through this API. This API can be applied either to a body or
collision or even articulation. The”filteredPairs”defines what objects
it should not collide against. Note that FilteredPairsAPI filtering
has precedence over CollisionGroup filtering.
Methods:

Apply
classmethod Apply(prim) -> FilteredPairsAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

CreateFilteredPairsRel()
See GetFilteredPairsRel() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> FilteredPairsAPI

GetFilteredPairsRel()
Relationship to objects that should be filtered.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

static Apply()
classmethod Apply(prim) -> FilteredPairsAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”PhysicsFilteredPairsAPI”to the
token-valued, listOp metadata apiSchemas on the prim.
A valid UsdPhysicsFilteredPairsAPI object is returned upon success. An
invalid (or empty) UsdPhysicsFilteredPairsAPI object is returned upon
failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters
prim (Prim) – 

static CanApply()
classmethod CanApply(prim, whyNot) -> bool
Returns true if this single-apply API schema can be applied to the
given prim .
If this schema can not be a applied to the prim, this returns false
and, if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
whyNot (str) – 

CreateFilteredPairsRel() → Relationship
See GetFilteredPairsRel() , and also Create vs Get Property Methods
for when to use Get vs Create.

static Get()
classmethod Get(stage, path) -> FilteredPairsAPI
Return a UsdPhysicsFilteredPairsAPI holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsFilteredPairsAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetFilteredPairsRel() → Relationship
Relationship to objects that should be filtered.

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.FixedJoint
Predefined fixed joint type (All degrees of freedom are removed.)
Methods:

Define
classmethod Define(stage, path) -> FixedJoint

Get
classmethod Get(stage, path) -> FixedJoint

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

static Define()
classmethod Define(stage, path) -> FixedJoint
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> FixedJoint
Return a UsdPhysicsFixedJoint holding the prim adhering to this schema
at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsFixedJoint(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.Joint
A joint constrains the movement of rigid bodies. Joint can be created
between two rigid bodies or between one rigid body and world. By
default joint primitive defines a D6 joint where all degrees of
freedom are free. Three linear and three angular degrees of freedom.
Note that default behavior is to disable collision between jointed
bodies.
Methods:

CreateBody0Rel()
See GetBody0Rel() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateBody1Rel()
See GetBody1Rel() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateBreakForceAttr(defaultValue, writeSparsely)
See GetBreakForceAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateBreakTorqueAttr(defaultValue, ...)
See GetBreakTorqueAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateCollisionEnabledAttr(defaultValue, ...)
See GetCollisionEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateExcludeFromArticulationAttr(...)
See GetExcludeFromArticulationAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateJointEnabledAttr(defaultValue, ...)
See GetJointEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateLocalPos0Attr(defaultValue, writeSparsely)
See GetLocalPos0Attr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateLocalPos1Attr(defaultValue, writeSparsely)
See GetLocalPos1Attr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateLocalRot0Attr(defaultValue, writeSparsely)
See GetLocalRot0Attr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateLocalRot1Attr(defaultValue, writeSparsely)
See GetLocalRot1Attr() , and also Create vs Get Property Methods for when to use Get vs Create.

Define
classmethod Define(stage, path) -> Joint

Get
classmethod Get(stage, path) -> Joint

GetBody0Rel()
Relationship to any UsdGeomXformable.

GetBody1Rel()
Relationship to any UsdGeomXformable.

GetBreakForceAttr()
Joint break force.

GetBreakTorqueAttr()
Joint break torque.

GetCollisionEnabledAttr()
Determines if the jointed subtrees should collide or not.

GetExcludeFromArticulationAttr()
Determines if the joint can be included in an Articulation.

GetJointEnabledAttr()
Determines if the joint is enabled.

GetLocalPos0Attr()
Relative position of the joint frame to body0's frame.

GetLocalPos1Attr()
Relative position of the joint frame to body1's frame.

GetLocalRot0Attr()
Relative orientation of the joint frame to body0's frame.

GetLocalRot1Attr()
Relative orientation of the joint frame to body1's frame.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

CreateBody0Rel() → Relationship
See GetBody0Rel() , and also Create vs Get Property Methods for when
to use Get vs Create.

CreateBody1Rel() → Relationship
See GetBody1Rel() , and also Create vs Get Property Methods for when
to use Get vs Create.

CreateBreakForceAttr(defaultValue, writeSparsely) → Attribute
See GetBreakForceAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateBreakTorqueAttr(defaultValue, writeSparsely) → Attribute
See GetBreakTorqueAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateCollisionEnabledAttr(defaultValue, writeSparsely) → Attribute
See GetCollisionEnabledAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateExcludeFromArticulationAttr(defaultValue, writeSparsely) → Attribute
See GetExcludeFromArticulationAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateJointEnabledAttr(defaultValue, writeSparsely) → Attribute
See GetJointEnabledAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateLocalPos0Attr(defaultValue, writeSparsely) → Attribute
See GetLocalPos0Attr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateLocalPos1Attr(defaultValue, writeSparsely) → Attribute
See GetLocalPos1Attr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateLocalRot0Attr(defaultValue, writeSparsely) → Attribute
See GetLocalRot0Attr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateLocalRot1Attr(defaultValue, writeSparsely) → Attribute
See GetLocalRot1Attr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Define()
classmethod Define(stage, path) -> Joint
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> Joint
Return a UsdPhysicsJoint holding the prim adhering to this schema at
path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsJoint(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetBody0Rel() → Relationship
Relationship to any UsdGeomXformable.

GetBody1Rel() → Relationship
Relationship to any UsdGeomXformable.

GetBreakForceAttr() → Attribute
Joint break force.
If set, joint is to break when this force limit is reached. (Used for
linear DOFs.) Units: mass * distance / second / second
Declaration
float physics:breakForce = inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetBreakTorqueAttr() → Attribute
Joint break torque.
If set, joint is to break when this torque limit is reached. (Used for
angular DOFs.) Units: mass * distance * distance / second / second
Declaration
float physics:breakTorque = inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetCollisionEnabledAttr() → Attribute
Determines if the jointed subtrees should collide or not.
Declaration
bool physics:collisionEnabled = 0
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool

GetExcludeFromArticulationAttr() → Attribute
Determines if the joint can be included in an Articulation.
Declaration
uniform bool physics:excludeFromArticulation = 0
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool
Variability
SdfVariabilityUniform

GetJointEnabledAttr() → Attribute
Determines if the joint is enabled.
Declaration
bool physics:jointEnabled = 1
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool

GetLocalPos0Attr() → Attribute
Relative position of the joint frame to body0’s frame.
Declaration
point3f physics:localPos0 = (0, 0, 0)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Point3f

GetLocalPos1Attr() → Attribute
Relative position of the joint frame to body1’s frame.
Declaration
point3f physics:localPos1 = (0, 0, 0)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Point3f

GetLocalRot0Attr() → Attribute
Relative orientation of the joint frame to body0’s frame.
Declaration
quatf physics:localRot0 = (1, 0, 0, 0)
C++ Type
GfQuatf
Usd Type
SdfValueTypeNames->Quatf

GetLocalRot1Attr() → Attribute
Relative orientation of the joint frame to body1’s frame.
Declaration
quatf physics:localRot1 = (1, 0, 0, 0)
C++ Type
GfQuatf
Usd Type
SdfValueTypeNames->Quatf

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.LimitAPI
The PhysicsLimitAPI can be applied to a PhysicsJoint and will restrict
the movement along an axis. PhysicsLimitAPI is a multipleApply schema:
The PhysicsJoint can be restricted
along”transX”,”transY”,”transZ”,”rotX”,”rotY”,”rotZ”,”distance”.
Setting these as a multipleApply schema TfToken name will define the
degree of freedom the PhysicsLimitAPI is applied to. Note that if the
low limit is higher than the high limit, motion along this axis is
considered locked.
Methods:

Apply
classmethod Apply(prim, name) -> LimitAPI

CanApply
classmethod CanApply(prim, name, whyNot) -> bool

CreateHighAttr(defaultValue, writeSparsely)
See GetHighAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateLowAttr(defaultValue, writeSparsely)
See GetLowAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> LimitAPI

GetAll
classmethod GetAll(prim) -> list[LimitAPI]

GetHighAttr()
Upper limit.

GetLowAttr()
Lower limit.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

IsPhysicsLimitAPIPath
classmethod IsPhysicsLimitAPIPath(path, name) -> bool

static Apply()
classmethod Apply(prim, name) -> LimitAPI
Applies this multiple-apply API schema to the given prim along
with the given instance name, name .
This information is stored by adding”PhysicsLimitAPI:<i>name</i>”to
the token-valued, listOp metadata apiSchemas on the prim. For
example, if name is’instance1’, the
token’PhysicsLimitAPI:instance1’is added to’apiSchemas’.
A valid UsdPhysicsLimitAPI object is returned upon success. An invalid
(or empty) UsdPhysicsLimitAPI object is returned upon failure. See
UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
name (str) – 

static CanApply()
classmethod CanApply(prim, name, whyNot) -> bool
Returns true if this multiple-apply API schema can be applied,
with the given instance name, name , to the given prim .
If this schema can not be a applied the prim, this returns false and,
if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
name (str) – 
whyNot (str) – 

CreateHighAttr(defaultValue, writeSparsely) → Attribute
See GetHighAttr() , and also Create vs Get Property Methods for when
to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateLowAttr(defaultValue, writeSparsely) → Attribute
See GetLowAttr() , and also Create vs Get Property Methods for when to
use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Get()
classmethod Get(stage, path) -> LimitAPI
Return a UsdPhysicsLimitAPI holding the prim adhering to this schema
at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
path must be of the format<path>.limit:name.
This is shorthand for the following:
TfToken name = SdfPath::StripNamespace(path.GetToken());
UsdPhysicsLimitAPI(
    stage->GetPrimAtPath(path.GetPrimPath()), name);

Parameters

stage (Stage) – 
path (Path) – 

Get(prim, name) -> LimitAPI
Return a UsdPhysicsLimitAPI with name name holding the prim
prim .
Shorthand for UsdPhysicsLimitAPI(prim, name);

Parameters

prim (Prim) – 
name (str) – 

static GetAll()
classmethod GetAll(prim) -> list[LimitAPI]
Return a vector of all named instances of UsdPhysicsLimitAPI on the
given prim .

Parameters
prim (Prim) – 

GetHighAttr() → Attribute
Upper limit.
Units: degrees or distance depending on trans or rot axis applied to.
inf means not limited in positive direction.
Declaration
float physics:high = inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetLowAttr() → Attribute
Lower limit.
Units: degrees or distance depending on trans or rot axis applied to.
-inf means not limited in negative direction.
Declaration
float physics:low = -inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

GetSchemaAttributeNames(includeInherited, instanceName) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes for a given instance name.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved. The names returned will have the
proper namespace prefix.

Parameters

includeInherited (bool) – 
instanceName (str) – 

static IsPhysicsLimitAPIPath()
classmethod IsPhysicsLimitAPIPath(path, name) -> bool
Checks if the given path path is of an API schema of type
PhysicsLimitAPI.
If so, it stores the instance name of the schema in name and
returns true. Otherwise, it returns false.

Parameters

path (Path) – 
name (str) – 

class pxr.UsdPhysics.MassAPI
Defines explicit mass properties (mass, density, inertia etc.).
MassAPI can be applied to any object that has a PhysicsCollisionAPI or
a PhysicsRigidBodyAPI.
Methods:

Apply
classmethod Apply(prim) -> MassAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

CreateCenterOfMassAttr(defaultValue, ...)
See GetCenterOfMassAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateDensityAttr(defaultValue, writeSparsely)
See GetDensityAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateDiagonalInertiaAttr(defaultValue, ...)
See GetDiagonalInertiaAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateMassAttr(defaultValue, writeSparsely)
See GetMassAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreatePrincipalAxesAttr(defaultValue, ...)
See GetPrincipalAxesAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> MassAPI

GetCenterOfMassAttr()
Center of mass in the prim's local space.

GetDensityAttr()
If non-zero, specifies the density of the object.

GetDiagonalInertiaAttr()
If non-zero, specifies diagonalized inertia tensor along the principal axes.

GetMassAttr()
If non-zero, directly specifies the mass of the object.

GetPrincipalAxesAttr()
Orientation of the inertia tensor's principal axes in the prim's local space.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

static Apply()
classmethod Apply(prim) -> MassAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”PhysicsMassAPI”to the token-
valued, listOp metadata apiSchemas on the prim.
A valid UsdPhysicsMassAPI object is returned upon success. An invalid
(or empty) UsdPhysicsMassAPI object is returned upon failure. See
UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters
prim (Prim) – 

static CanApply()
classmethod CanApply(prim, whyNot) -> bool
Returns true if this single-apply API schema can be applied to the
given prim .
If this schema can not be a applied to the prim, this returns false
and, if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
whyNot (str) – 

CreateCenterOfMassAttr(defaultValue, writeSparsely) → Attribute
See GetCenterOfMassAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateDensityAttr(defaultValue, writeSparsely) → Attribute
See GetDensityAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateDiagonalInertiaAttr(defaultValue, writeSparsely) → Attribute
See GetDiagonalInertiaAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateMassAttr(defaultValue, writeSparsely) → Attribute
See GetMassAttr() , and also Create vs Get Property Methods for when
to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreatePrincipalAxesAttr(defaultValue, writeSparsely) → Attribute
See GetPrincipalAxesAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Get()
classmethod Get(stage, path) -> MassAPI
Return a UsdPhysicsMassAPI holding the prim adhering to this schema at
path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsMassAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetCenterOfMassAttr() → Attribute
Center of mass in the prim’s local space.
Units: distance.
Declaration
point3f physics:centerOfMass = (-inf, -inf, -inf)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Point3f

GetDensityAttr() → Attribute
If non-zero, specifies the density of the object.
In the context of rigid body physics, density indirectly results in
setting mass via (mass = density x volume of the object). How the
volume is computed is up to implementation of the physics system. It
is generally computed from the collision approximation rather than the
graphical mesh. In the case where both density and mass are specified
for the same object, mass has precedence over density. Unlike mass,
child’s prim’s density overrides parent prim’s density as it is
accumulative. Note that density of a collisionAPI can be also
alternatively set through a PhysicsMaterialAPI. The material density
has the weakest precedence in density definition. Note if density is
0.0 it is ignored. Units: mass/distance/distance/distance.
Declaration
float physics:density = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetDiagonalInertiaAttr() → Attribute
If non-zero, specifies diagonalized inertia tensor along the principal
axes.
Note if diagonalInertial is (0.0, 0.0, 0.0) it is ignored. Units:
mass*distance*distance.
Declaration
float3 physics:diagonalInertia = (0, 0, 0)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Float3

GetMassAttr() → Attribute
If non-zero, directly specifies the mass of the object.
Note that any child prim can also have a mass when they apply massAPI.
In this case, the precedence rule is’parent mass overrides the
child’s’. This may come as counter-intuitive, but mass is a computed
quantity and in general not accumulative. For example, if a parent has
mass of 10, and one of two children has mass of 20, allowing child’s
mass to override its parent results in a mass of -10 for the other
child. Note if mass is 0.0 it is ignored. Units: mass.
Declaration
float physics:mass = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetPrincipalAxesAttr() → Attribute
Orientation of the inertia tensor’s principal axes in the prim’s local
space.
Declaration
quatf physics:principalAxes = (0, 0, 0, 0)
C++ Type
GfQuatf
Usd Type
SdfValueTypeNames->Quatf

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.MassUnits
Container class for static double-precision symbols representing
common mass units of measure expressed in kilograms.
Attributes:

grams

kilograms

slugs

grams = 0.001

kilograms = 1.0

slugs = 14.5939

class pxr.UsdPhysics.MaterialAPI
Adds simulation material properties to a Material. All collisions that
have a relationship to this material will have their collision
response defined through this material.
Methods:

Apply
classmethod Apply(prim) -> MaterialAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

CreateDensityAttr(defaultValue, writeSparsely)
See GetDensityAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateDynamicFrictionAttr(defaultValue, ...)
See GetDynamicFrictionAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateRestitutionAttr(defaultValue, ...)
See GetRestitutionAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateStaticFrictionAttr(defaultValue, ...)
See GetStaticFrictionAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> MaterialAPI

GetDensityAttr()
If non-zero, defines the density of the material.

GetDynamicFrictionAttr()
Dynamic friction coefficient.

GetRestitutionAttr()
Restitution coefficient.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

GetStaticFrictionAttr()
Static friction coefficient.

static Apply()
classmethod Apply(prim) -> MaterialAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”PhysicsMaterialAPI”to the token-
valued, listOp metadata apiSchemas on the prim.
A valid UsdPhysicsMaterialAPI object is returned upon success. An
invalid (or empty) UsdPhysicsMaterialAPI object is returned upon
failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters
prim (Prim) – 

static CanApply()
classmethod CanApply(prim, whyNot) -> bool
Returns true if this single-apply API schema can be applied to the
given prim .
If this schema can not be a applied to the prim, this returns false
and, if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
whyNot (str) – 

CreateDensityAttr(defaultValue, writeSparsely) → Attribute
See GetDensityAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateDynamicFrictionAttr(defaultValue, writeSparsely) → Attribute
See GetDynamicFrictionAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateRestitutionAttr(defaultValue, writeSparsely) → Attribute
See GetRestitutionAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateStaticFrictionAttr(defaultValue, writeSparsely) → Attribute
See GetStaticFrictionAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Get()
classmethod Get(stage, path) -> MaterialAPI
Return a UsdPhysicsMaterialAPI holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsMaterialAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetDensityAttr() → Attribute
If non-zero, defines the density of the material.
This can be used for body mass computation, see PhysicsMassAPI. Note
that if the density is 0.0 it is ignored. Units:
mass/distance/distance/distance.
Declaration
float physics:density = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetDynamicFrictionAttr() → Attribute
Dynamic friction coefficient.
Unitless.
Declaration
float physics:dynamicFriction = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetRestitutionAttr() → Attribute
Restitution coefficient.
Unitless.
Declaration
float physics:restitution = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

GetStaticFrictionAttr() → Attribute
Static friction coefficient.
Unitless.
Declaration
float physics:staticFriction = 0
C++ Type
float
Usd Type
SdfValueTypeNames->Float

class pxr.UsdPhysics.MeshCollisionAPI
Attributes to control how a Mesh is made into a collider. Can be
applied to only a USDGeomMesh in addition to its PhysicsCollisionAPI.
For any described attribute Fallback Value or Allowed Values
below that are text/tokens, the actual token is published and defined
in UsdPhysicsTokens. So to set an attribute to the value”rightHanded”,
use UsdPhysicsTokens->rightHanded as the value.
Methods:

Apply
classmethod Apply(prim) -> MeshCollisionAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

CreateApproximationAttr(defaultValue, ...)
See GetApproximationAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> MeshCollisionAPI

GetApproximationAttr()
Determines the mesh's collision approximation:"none"- The mesh geometry is used directly as a collider without any approximation.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

static Apply()
classmethod Apply(prim) -> MeshCollisionAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”PhysicsMeshCollisionAPI”to the
token-valued, listOp metadata apiSchemas on the prim.
A valid UsdPhysicsMeshCollisionAPI object is returned upon success. An
invalid (or empty) UsdPhysicsMeshCollisionAPI object is returned upon
failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters
prim (Prim) – 

static CanApply()
classmethod CanApply(prim, whyNot) -> bool
Returns true if this single-apply API schema can be applied to the
given prim .
If this schema can not be a applied to the prim, this returns false
and, if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
whyNot (str) – 

CreateApproximationAttr(defaultValue, writeSparsely) → Attribute
See GetApproximationAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Get()
classmethod Get(stage, path) -> MeshCollisionAPI
Return a UsdPhysicsMeshCollisionAPI holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetApproximationAttr() → Attribute
Determines the mesh’s collision approximation:”none”- The mesh
geometry is used directly as a collider without any approximation.
“convexDecomposition”- A convex mesh decomposition is performed. This
results in a set of convex mesh colliders.”convexHull”- A convex hull
of the mesh is generated and used as the collider.”boundingSphere”- A
bounding sphere is computed around the mesh and used as a
collider.”boundingCube”- An optimally fitting box collider is computed
around the mesh.”meshSimplification”- A mesh simplification step is
performed, resulting in a simplified triangle mesh collider.
Declaration
uniform token physics:approximation ="none"
C++ Type
TfToken
Usd Type
SdfValueTypeNames->Token
Variability
SdfVariabilityUniform
Allowed Values
none, convexDecomposition, convexHull, boundingSphere, boundingCube,
meshSimplification

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.PrismaticJoint
Predefined prismatic joint type (translation along prismatic joint
axis is permitted.)
For any described attribute Fallback Value or Allowed Values
below that are text/tokens, the actual token is published and defined
in UsdPhysicsTokens. So to set an attribute to the value”rightHanded”,
use UsdPhysicsTokens->rightHanded as the value.
Methods:

CreateAxisAttr(defaultValue, writeSparsely)
See GetAxisAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateLowerLimitAttr(defaultValue, writeSparsely)
See GetLowerLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateUpperLimitAttr(defaultValue, writeSparsely)
See GetUpperLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Define
classmethod Define(stage, path) -> PrismaticJoint

Get
classmethod Get(stage, path) -> PrismaticJoint

GetAxisAttr()
Joint axis.

GetLowerLimitAttr()
Lower limit.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

GetUpperLimitAttr()
Upper limit.

CreateAxisAttr(defaultValue, writeSparsely) → Attribute
See GetAxisAttr() , and also Create vs Get Property Methods for when
to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateLowerLimitAttr(defaultValue, writeSparsely) → Attribute
See GetLowerLimitAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateUpperLimitAttr(defaultValue, writeSparsely) → Attribute
See GetUpperLimitAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Define()
classmethod Define(stage, path) -> PrismaticJoint
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> PrismaticJoint
Return a UsdPhysicsPrismaticJoint holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsPrismaticJoint(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetAxisAttr() → Attribute
Joint axis.
Declaration
uniform token physics:axis ="X"
C++ Type
TfToken
Usd Type
SdfValueTypeNames->Token
Variability
SdfVariabilityUniform
Allowed Values
X, Y, Z

GetLowerLimitAttr() → Attribute
Lower limit.
Units: distance. -inf means not limited in negative direction.
Declaration
float physics:lowerLimit = -inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

GetUpperLimitAttr() → Attribute
Upper limit.
Units: distance. inf means not limited in positive direction.
Declaration
float physics:upperLimit = inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

class pxr.UsdPhysics.RevoluteJoint
Predefined revolute joint type (rotation along revolute joint axis is
permitted.)
For any described attribute Fallback Value or Allowed Values
below that are text/tokens, the actual token is published and defined
in UsdPhysicsTokens. So to set an attribute to the value”rightHanded”,
use UsdPhysicsTokens->rightHanded as the value.
Methods:

CreateAxisAttr(defaultValue, writeSparsely)
See GetAxisAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateLowerLimitAttr(defaultValue, writeSparsely)
See GetLowerLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateUpperLimitAttr(defaultValue, writeSparsely)
See GetUpperLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Define
classmethod Define(stage, path) -> RevoluteJoint

Get
classmethod Get(stage, path) -> RevoluteJoint

GetAxisAttr()
Joint axis.

GetLowerLimitAttr()
Lower limit.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

GetUpperLimitAttr()
Upper limit.

CreateAxisAttr(defaultValue, writeSparsely) → Attribute
See GetAxisAttr() , and also Create vs Get Property Methods for when
to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateLowerLimitAttr(defaultValue, writeSparsely) → Attribute
See GetLowerLimitAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateUpperLimitAttr(defaultValue, writeSparsely) → Attribute
See GetUpperLimitAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Define()
classmethod Define(stage, path) -> RevoluteJoint
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> RevoluteJoint
Return a UsdPhysicsRevoluteJoint holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsRevoluteJoint(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetAxisAttr() → Attribute
Joint axis.
Declaration
uniform token physics:axis ="X"
C++ Type
TfToken
Usd Type
SdfValueTypeNames->Token
Variability
SdfVariabilityUniform
Allowed Values
X, Y, Z

GetLowerLimitAttr() → Attribute
Lower limit.
Units: degrees. -inf means not limited in negative direction.
Declaration
float physics:lowerLimit = -inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

GetUpperLimitAttr() → Attribute
Upper limit.
Units: degrees. inf means not limited in positive direction.
Declaration
float physics:upperLimit = inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

class pxr.UsdPhysics.RigidBodyAPI
Applies physics body attributes to any UsdGeomXformable prim and marks
that prim to be driven by a simulation. If a simulation is running it
will update this prim’s pose. All prims in the hierarchy below this
prim should move accordingly.
Classes:

MassInformation

Methods:

Apply
classmethod Apply(prim) -> RigidBodyAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

ComputeMassProperties(diagonalInertia, com, ...)
Compute mass properties of the rigid body diagonalInertia Computed diagonal of the inertial tensor for the rigid body.

CreateAngularVelocityAttr(defaultValue, ...)
See GetAngularVelocityAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateKinematicEnabledAttr(defaultValue, ...)
See GetKinematicEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateRigidBodyEnabledAttr(defaultValue, ...)
See GetRigidBodyEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateSimulationOwnerRel()
See GetSimulationOwnerRel() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateStartsAsleepAttr(defaultValue, ...)
See GetStartsAsleepAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateVelocityAttr(defaultValue, writeSparsely)
See GetVelocityAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Get
classmethod Get(stage, path) -> RigidBodyAPI

GetAngularVelocityAttr()
Angular velocity in the same space as the node's xform.

GetKinematicEnabledAttr()
Determines whether the body is kinematic or not.

GetRigidBodyEnabledAttr()
Determines if this PhysicsRigidBodyAPI is enabled.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

GetSimulationOwnerRel()
Single PhysicsScene that will simulate this body.

GetStartsAsleepAttr()
Determines if the body is asleep when the simulation starts.

GetVelocityAttr()
Linear velocity in the same space as the node's xform.

class MassInformation
Attributes:

centerOfMass

inertia

localPos

localRot

volume

property centerOfMass

property inertia

property localPos

property localRot

property volume

static Apply()
classmethod Apply(prim) -> RigidBodyAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”PhysicsRigidBodyAPI”to the token-
valued, listOp metadata apiSchemas on the prim.
A valid UsdPhysicsRigidBodyAPI object is returned upon success. An
invalid (or empty) UsdPhysicsRigidBodyAPI object is returned upon
failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters
prim (Prim) – 

static CanApply()
classmethod CanApply(prim, whyNot) -> bool
Returns true if this single-apply API schema can be applied to the
given prim .
If this schema can not be a applied to the prim, this returns false
and, if provided, populates whyNot with the reason it can not be
applied.
Note that if CanApply returns false, that does not necessarily imply
that calling Apply will fail. Callers are expected to call CanApply
before calling Apply if they want to ensure that it is valid to apply
a schema.
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

Parameters

prim (Prim) – 
whyNot (str) – 

ComputeMassProperties(diagonalInertia, com, principalAxes, massInfoFn) → float
Compute mass properties of the rigid body diagonalInertia Computed
diagonal of the inertial tensor for the rigid body.
com Computed center of mass for the rigid body. principalAxes
Inertia tensor’s principal axes orienttion for the rigid body.
massInfoFn Callback function to get collision mass information.
Computed mass of the rigid body

Parameters

diagonalInertia (Vec3f) – 
com (Vec3f) – 
principalAxes (Quatf) – 
massInfoFn (MassInformationFn) – 

CreateAngularVelocityAttr(defaultValue, writeSparsely) → Attribute
See GetAngularVelocityAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateKinematicEnabledAttr(defaultValue, writeSparsely) → Attribute
See GetKinematicEnabledAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateRigidBodyEnabledAttr(defaultValue, writeSparsely) → Attribute
See GetRigidBodyEnabledAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateSimulationOwnerRel() → Relationship
See GetSimulationOwnerRel() , and also Create vs Get Property Methods
for when to use Get vs Create.

CreateStartsAsleepAttr(defaultValue, writeSparsely) → Attribute
See GetStartsAsleepAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateVelocityAttr(defaultValue, writeSparsely) → Attribute
See GetVelocityAttr() , and also Create vs Get Property Methods for
when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Get()
classmethod Get(stage, path) -> RigidBodyAPI
Return a UsdPhysicsRigidBodyAPI holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsRigidBodyAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetAngularVelocityAttr() → Attribute
Angular velocity in the same space as the node’s xform.
Units: degrees/second.
Declaration
vector3f physics:angularVelocity = (0, 0, 0)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Vector3f

GetKinematicEnabledAttr() → Attribute
Determines whether the body is kinematic or not.
A kinematic body is a body that is moved through animated poses or
through user defined poses. The simulation derives velocities for the
kinematic body based on the external motion. When a continuous motion
is not desired, this kinematic flag should be set to false.
Declaration
bool physics:kinematicEnabled = 0
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool

GetRigidBodyEnabledAttr() → Attribute
Determines if this PhysicsRigidBodyAPI is enabled.
Declaration
bool physics:rigidBodyEnabled = 1
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

GetSimulationOwnerRel() → Relationship
Single PhysicsScene that will simulate this body.
By default this is the first PhysicsScene found in the stage using
UsdStage::Traverse() .

GetStartsAsleepAttr() → Attribute
Determines if the body is asleep when the simulation starts.
Declaration
uniform bool physics:startsAsleep = 0
C++ Type
bool
Usd Type
SdfValueTypeNames->Bool
Variability
SdfVariabilityUniform

GetVelocityAttr() → Attribute
Linear velocity in the same space as the node’s xform.
Units: distance/second.
Declaration
vector3f physics:velocity = (0, 0, 0)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Vector3f

class pxr.UsdPhysics.Scene
General physics simulation properties, required for simulation.
Methods:

CreateGravityDirectionAttr(defaultValue, ...)
See GetGravityDirectionAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateGravityMagnitudeAttr(defaultValue, ...)
See GetGravityMagnitudeAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Define
classmethod Define(stage, path) -> Scene

Get
classmethod Get(stage, path) -> Scene

GetGravityDirectionAttr()
Gravity direction vector in simulation world space.

GetGravityMagnitudeAttr()
Gravity acceleration magnitude in simulation world space.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

CreateGravityDirectionAttr(defaultValue, writeSparsely) → Attribute
See GetGravityDirectionAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateGravityMagnitudeAttr(defaultValue, writeSparsely) → Attribute
See GetGravityMagnitudeAttr() , and also Create vs Get Property
Methods for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Define()
classmethod Define(stage, path) -> Scene
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> Scene
Return a UsdPhysicsScene holding the prim adhering to this schema at
path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsScene(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetGravityDirectionAttr() → Attribute
Gravity direction vector in simulation world space.
Will be normalized before use. A zero vector is a request to use the
negative upAxis. Unitless.
Declaration
vector3f physics:gravityDirection = (0, 0, 0)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Vector3f

GetGravityMagnitudeAttr() → Attribute
Gravity acceleration magnitude in simulation world space.
A negative value is a request to use a value equivalent to earth
gravity regardless of the metersPerUnit scaling used by this scene.
Units: distance/second/second.
Declaration
float physics:gravityMagnitude = -inf
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.SphericalJoint
Predefined spherical joint type (Removes linear degrees of freedom,
cone limit may restrict the motion in a given range.) It allows two
limit values, which when equal create a circular, else an elliptic
cone limit around the limit axis.
For any described attribute Fallback Value or Allowed Values
below that are text/tokens, the actual token is published and defined
in UsdPhysicsTokens. So to set an attribute to the value”rightHanded”,
use UsdPhysicsTokens->rightHanded as the value.
Methods:

CreateAxisAttr(defaultValue, writeSparsely)
See GetAxisAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateConeAngle0LimitAttr(defaultValue, ...)
See GetConeAngle0LimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

CreateConeAngle1LimitAttr(defaultValue, ...)
See GetConeAngle1LimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create.

Define
classmethod Define(stage, path) -> SphericalJoint

Get
classmethod Get(stage, path) -> SphericalJoint

GetAxisAttr()
Cone limit axis.

GetConeAngle0LimitAttr()
Cone limit from the primary joint axis in the local0 frame toward the next axis.

GetConeAngle1LimitAttr()
Cone limit from the primary joint axis in the local0 frame toward the second to next axis.

GetSchemaAttributeNames
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]

CreateAxisAttr(defaultValue, writeSparsely) → Attribute
See GetAxisAttr() , and also Create vs Get Property Methods for when
to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateConeAngle0LimitAttr(defaultValue, writeSparsely) → Attribute
See GetConeAngle0LimitAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

CreateConeAngle1LimitAttr(defaultValue, writeSparsely) → Attribute
See GetConeAngle1LimitAttr() , and also Create vs Get Property Methods
for when to use Get vs Create.
If specified, author defaultValue as the attribute’s default,
sparsely (when it makes sense to do so) if writeSparsely is
true - the default for writeSparsely is false .

Parameters

defaultValue (VtValue) – 
writeSparsely (bool) – 

static Define()
classmethod Define(stage, path) -> SphericalJoint
Attempt to ensure a UsdPrim adhering to this schema at path is
defined (according to UsdPrim::IsDefined() ) on this stage.
If a prim adhering to this schema at path is already defined on
this stage, return that prim. Otherwise author an SdfPrimSpec with
specifier == SdfSpecifierDef and this schema’s prim type name for
the prim at path at the current EditTarget. Author SdfPrimSpec s
with specifier == SdfSpecifierDef and empty typeName at the
current EditTarget for any nonexistent, or existing but not Defined
ancestors.
The given path must be an absolute prim path that does not contain
any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for
example, in case path cannot map to the current UsdEditTarget ‘s
namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does
not specify this schema class, in case a stronger typeName opinion
overrides the opinion at the current EditTarget.

Parameters

stage (Stage) – 
path (Path) – 

static Get()
classmethod Get(stage, path) -> SphericalJoint
Return a UsdPhysicsSphericalJoint holding the prim adhering to this
schema at path on stage .
If no prim exists at path on stage , or if the prim at that
path does not adhere to this schema, return an invalid schema object.
This is shorthand for the following:
UsdPhysicsSphericalJoint(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetAxisAttr() → Attribute
Cone limit axis.
Declaration
uniform token physics:axis ="X"
C++ Type
TfToken
Usd Type
SdfValueTypeNames->Token
Variability
SdfVariabilityUniform
Allowed Values
X, Y, Z

GetConeAngle0LimitAttr() → Attribute
Cone limit from the primary joint axis in the local0 frame toward the
next axis.
(Next axis of X is Y, and of Z is X.) A negative value means not
limited. Units: degrees.
Declaration
float physics:coneAngle0Limit = -1
C++ Type
float
Usd Type
SdfValueTypeNames->Float

GetConeAngle1LimitAttr() → Attribute
Cone limit from the primary joint axis in the local0 frame toward the
second to next axis.
A negative value means not limited. Units: degrees.
Declaration
float physics:coneAngle1Limit = -1
C++ Type
float
Usd Type
SdfValueTypeNames->Float

static GetSchemaAttributeNames()
classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken]
Return a vector of names of all pre-declared attributes for this
schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended
methods of the schemas involved.

Parameters
includeInherited (bool) – 

class pxr.UsdPhysics.Tokens
Attributes:

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

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'

© Copyright 2019-2023, NVIDIA.
      Last updated on Nov 14, 2023.