UsdSkel.md

UsdSkel module — pxr-usd-api 105.1 documentation

pxr-usd-api

 »
Modules »
UsdSkel module

 

# UsdSkel module

Summary: The UsdSkel module defines schemas and API that form a basis for interchanging skeletally-skinned meshes and joint animations.

Classes:

AnimMapper

AnimQuery
Class providing efficient queries of primitives that provide skel animation.

Animation
Describes a skel animation, where joint animation is stored in a vectorized form.

Binding
Helper object that describes the binding of a skeleton to a set of skinnable objects.

BindingAPI
Provides API for authoring and extracting all the skinning-related data that lives in the"geometry hierarchy"of prims and models that want to be skeletally deformed.

BlendShape
Describes a target blend shape, possibly containing inbetween shapes.

BlendShapeQuery
Helper class used to resolve blend shape weights, including inbetweens.

Cache
Thread-safe cache for accessing query objects for evaluating skeletal data.

InbetweenShape
Schema wrapper for UsdAttribute for authoring and introspecting attributes that serve as inbetween shapes of a UsdSkelBlendShape.

PackedJointAnimation
Deprecated.

Root
Boundable prim type used to identify a scope beneath which skeletally- posed primitives are defined.

Skeleton
Describes a skeleton.

SkeletonQuery
Primary interface to reading bound skeleton data.

SkinningQuery
Object used for querying resolved bindings for skinning.

Tokens

Topology
Object holding information describing skeleton topology.

class pxr.UsdSkel.AnimMapper
Methods:

IsIdentity()
Returns true if this is an identity map.

IsNull()
Returns true if this is a null mapping.

IsSparse()
Returns true if this is a sparse mapping.

Remap(source, target, elementSize, defaultValue)
Typed remapping of data in an arbitrary, stl-like container.

RemapTransforms(source, target, elementSize)
Convenience method for the common task of remapping transform arrays.

IsIdentity() → bool
Returns true if this is an identity map.
The source and target orders of an identity map are identical.

IsNull() → bool
Returns true if this is a null mapping.
No source elements of a null map are mapped to the target.

IsSparse() → bool
Returns true if this is a sparse mapping.
A sparse mapping means that not all target values will be overridden
by source values, when mapped with Remap().

Remap(source, target, elementSize, defaultValue) → bool
Typed remapping of data in an arbitrary, stl-like container.
The source array provides a run of elementSize for each path
in the em sourceOrder. These elements are remapped and copied over
the target array. Prior to remapping, the target array is
resized to the size of the em targetOrder (as given at mapper
construction time) multiplied by the elementSize . New element
created in the array are initialized to defaultValue , if
provided.

Parameters

source (Container) – 
target (Container) – 
elementSize (int) – 
defaultValue (Container.value_type) – 

Remap(source, target, elementSize, defaultValue) -> bool
Type-erased remapping of data from source into target .
The source array provides a run of elementSize elements for
each path in the em sourceOrder. These elements are remapped and
copied over the target array. Prior to remapping, the target
array is resized to the size of the em targetOrder (as given at
mapper construction time) multiplied by the elementSize . New
elements created in the array are initialized to defaultValue , if
provided. Remapping is supported for registered Sdf array value types
only.

Parameters

source (VtValue) – 
target (VtValue) – 
elementSize (int) – 
defaultValue (VtValue) – 

RemapTransforms(source, target, elementSize) → bool
Convenience method for the common task of remapping transform arrays.
This performs the same operation as Remap(), but sets the matrix
identity as the default value.

Parameters

source (VtArray[Matrix4]) – 
target (VtArray[Matrix4]) – 
elementSize (int) – 

class pxr.UsdSkel.AnimQuery
Class providing efficient queries of primitives that provide skel
animation.
Methods:

BlendShapeWeightsMightBeTimeVarying()
Return true if it possible, but not certain, that the blend shape weights computed through this animation query change over time, false otherwise.

ComputeBlendShapeWeights(weights, time)

param weights

ComputeJointLocalTransformComponents(...)
Compute translation,rotation,scale components of the joint transforms in joint-local space.

ComputeJointLocalTransforms(xforms, time)
Compute joint transforms in joint-local space.

GetBlendShapeOrder()
Returns an array of tokens describing the ordering of blend shape channels in the animation.

GetBlendShapeWeightTimeSamples(attrs)
Get the time samples at which values contributing to blend shape weights have been set.

GetBlendShapeWeightTimeSamplesInInterval(...)
Get the time samples at which values contributing to blend shape weights are set, over interval .

GetJointOrder()
Returns an array of tokens describing the ordering of joints in the animation.

GetJointTransformTimeSamples(times)
Get the time samples at which values contributing to joint transforms are set.

GetJointTransformTimeSamplesInInterval(...)
Get the time samples at which values contributing to joint transforms are set, over interval .

GetPrim()
Return the primitive this anim query reads from.

JointTransformsMightBeTimeVarying()
Return true if it possible, but not certain, that joint transforms computed through this animation query change over time, false otherwise.

BlendShapeWeightsMightBeTimeVarying() → bool
Return true if it possible, but not certain, that the blend shape
weights computed through this animation query change over time, false
otherwise.
UsdAttribute::ValueMightBeTimeVayring

ComputeBlendShapeWeights(weights, time) → bool

Parameters

weights (FloatArray) – 
time (TimeCode) – 

ComputeJointLocalTransformComponents(translations, rotations, scales, time) → bool
Compute translation,rotation,scale components of the joint transforms
in joint-local space.
This is provided to facilitate direct streaming of animation data in a
form that can efficiently be processed for animation blending.

Parameters

translations (Vec3fArray) – 
rotations (QuatfArray) – 
scales (Vec3hArray) – 
time (TimeCode) – 

ComputeJointLocalTransforms(xforms, time) → bool
Compute joint transforms in joint-local space.
Transforms are returned in the order specified by the joint ordering
of the animation primitive itself.

Parameters

xforms (VtArray[Matrix4]) – 
time (TimeCode) – 

GetBlendShapeOrder() → TokenArray
Returns an array of tokens describing the ordering of blend shape
channels in the animation.

GetBlendShapeWeightTimeSamples(attrs) → bool
Get the time samples at which values contributing to blend shape
weights have been set.
UsdAttribute::GetTimeSamples

Parameters
attrs (list[float]) – 

GetBlendShapeWeightTimeSamplesInInterval(interval, times) → bool
Get the time samples at which values contributing to blend shape
weights are set, over interval .
UsdAttribute::GetTimeSamplesInInterval

Parameters

interval (Interval) – 
times (list[float]) – 

GetJointOrder() → TokenArray
Returns an array of tokens describing the ordering of joints in the
animation.
UsdSkelSkeleton::GetJointOrder

GetJointTransformTimeSamples(times) → bool
Get the time samples at which values contributing to joint transforms
are set.
This only computes the time samples for sampling transforms in joint-
local space, and does not include time samples affecting the root
transformation.
UsdAttribute::GetTimeSamples

Parameters
times (list[float]) – 

GetJointTransformTimeSamplesInInterval(interval, times) → bool
Get the time samples at which values contributing to joint transforms
are set, over interval .
This only computes the time samples for sampling transforms in joint-
local space, and does not include time samples affecting the root
transformation.
UsdAttribute::GetTimeSamplesInInterval

Parameters

interval (Interval) – 
times (list[float]) – 

GetPrim() → Prim
Return the primitive this anim query reads from.

JointTransformsMightBeTimeVarying() → bool
Return true if it possible, but not certain, that joint transforms
computed through this animation query change over time, false
otherwise.
UsdAttribute::ValueMightBeTimeVayring

class pxr.UsdSkel.Animation
Describes a skel animation, where joint animation is stored in a
vectorized form.
See the extended Skel Animation documentation for more information.
Methods:

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

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

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

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

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

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

Define
classmethod Define(stage, path) -> Animation

Get
classmethod Get(stage, path) -> Animation

GetBlendShapeWeightsAttr()
Array of weight values for each blend shape.

GetBlendShapesAttr()
Array of tokens identifying which blend shapes this animation's data applies to.

GetJointsAttr()
Array of tokens identifying which joints this animation's data applies to.

GetRotationsAttr()
Joint-local unit quaternion rotations of all affected joints, in 32-bit precision.

GetScalesAttr()
Joint-local scales of all affected joints, in 16 bit precision.

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

GetTransforms(xforms, time)
Convenience method for querying resolved transforms at time .

GetTranslationsAttr()
Joint-local translations of all affected joints.

SetTransforms(xforms, time)
Convenience method for setting an array of transforms.

CreateBlendShapeWeightsAttr(defaultValue, writeSparsely) → Attribute
See GetBlendShapeWeightsAttr() , 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) – 

CreateBlendShapesAttr(defaultValue, writeSparsely) → Attribute
See GetBlendShapesAttr() , 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) – 

CreateJointsAttr(defaultValue, writeSparsely) → Attribute
See GetJointsAttr() , 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) – 

CreateRotationsAttr(defaultValue, writeSparsely) → Attribute
See GetRotationsAttr() , 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) – 

CreateScalesAttr(defaultValue, writeSparsely) → Attribute
See GetScalesAttr() , 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) – 

CreateTranslationsAttr(defaultValue, writeSparsely) → Attribute
See GetTranslationsAttr() , 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) -> Animation
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) -> Animation
Return a UsdSkelAnimation 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:
UsdSkelAnimation(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetBlendShapeWeightsAttr() → Attribute
Array of weight values for each blend shape.
Each weight value is associated with the corresponding blend shape
identified within the blendShapes token array, and therefore must
have the same length as *blendShapes.
Declaration
float[] blendShapeWeights
C++ Type
VtArray<float>
Usd Type
SdfValueTypeNames->FloatArray

GetBlendShapesAttr() → Attribute
Array of tokens identifying which blend shapes this animation’s data
applies to.
The tokens for blendShapes correspond to the tokens set in the
skel:blendShapes binding property of the UsdSkelBindingAPI.
Declaration
uniform token[] blendShapes
C++ Type
VtArray<TfToken>
Usd Type
SdfValueTypeNames->TokenArray
Variability
SdfVariabilityUniform

GetJointsAttr() → Attribute
Array of tokens identifying which joints this animation’s data applies
to.
The tokens for joints correspond to the tokens of Skeleton primitives.
The order of the joints as listed here may vary from the order of
joints on the Skeleton itself.
Declaration
uniform token[] joints
C++ Type
VtArray<TfToken>
Usd Type
SdfValueTypeNames->TokenArray
Variability
SdfVariabilityUniform

GetRotationsAttr() → Attribute
Joint-local unit quaternion rotations of all affected joints, in
32-bit precision.
Array length should match the size of the joints attribute.
Declaration
quatf[] rotations
C++ Type
VtArray<GfQuatf>
Usd Type
SdfValueTypeNames->QuatfArray

GetScalesAttr() → Attribute
Joint-local scales of all affected joints, in 16 bit precision.
Array length should match the size of the joints attribute.
Declaration
half3[] scales
C++ Type
VtArray<GfVec3h>
Usd Type
SdfValueTypeNames->Half3Array

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) – 

GetTransforms(xforms, time) → bool
Convenience method for querying resolved transforms at time .
Note that it is more efficient to query transforms through
UsdSkelAnimQuery or UsdSkelSkeletonQuery.

Parameters

xforms (Matrix4dArray) – 
time (TimeCode) – 

GetTranslationsAttr() → Attribute
Joint-local translations of all affected joints.
Array length should match the size of the joints attribute.
Declaration
float3[] translations
C++ Type
VtArray<GfVec3f>
Usd Type
SdfValueTypeNames->Float3Array

SetTransforms(xforms, time) → bool
Convenience method for setting an array of transforms.
The given transforms must be orthogonal.

Parameters

xforms (Matrix4dArray) – 
time (TimeCode) – 

class pxr.UsdSkel.Binding
Helper object that describes the binding of a skeleton to a set of
skinnable objects. The set of skinnable objects is given as
UsdSkelSkinningQuery prims, which can be used both to identify the
skinned prim as well compute skinning properties of the prim.
Methods:

GetSkeleton()
Returns the bound skeleton.

GetSkinningTargets()
Returns the set skinning targets.

GetSkeleton() → Skeleton
Returns the bound skeleton.

GetSkinningTargets() → VtArray[SkinningQuery]
Returns the set skinning targets.

class pxr.UsdSkel.BindingAPI
Provides API for authoring and extracting all the skinning-related
data that lives in the”geometry hierarchy”of prims and models that
want to be skeletally deformed.
See the extended UsdSkelBindingAPI schema documentation for more about
bindings and how they apply in a scene graph.
Methods:

Apply
classmethod Apply(prim) -> BindingAPI

CanApply
classmethod CanApply(prim, whyNot) -> bool

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

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

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

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

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

CreateJointIndicesPrimvar(constant, elementSize)
Convenience function to create the jointIndices primvar, optionally specifying elementSize.

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

CreateJointWeightsPrimvar(constant, elementSize)
Convenience function to create the jointWeights primvar, optionally specifying elementSize.

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

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

CreateSkinningBlendWeightPrimvar

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

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

Get
classmethod Get(stage, path) -> BindingAPI

GetAnimationSource(prim)
Convenience method to query the animation source bound on this prim.

GetAnimationSourceRel()
Animation source to be bound to Skeleton primitives at or beneath the location at which this property is defined.

GetBlendShapeTargetsRel()
Ordered list of all target blend shapes.

GetBlendShapesAttr()
An array of tokens defining the order onto which blend shape weights from an animation source map onto the skel:blendShapeTargets rel of a binding site.

GetGeomBindTransformAttr()
Encodes the bind-time world space transforms of the prim.

GetInheritedAnimationSource()
Returns the animation source bound at this prim, or one of its ancestors.

GetInheritedSkeleton()
Returns the skeleton bound at this prim, or one of its ancestors.

GetJointIndicesAttr()
Indices into the joints attribute of the closest (in namespace) bound Skeleton that affect each point of a PointBased gprim.

GetJointIndicesPrimvar()
Convenience function to get the jointIndices attribute as a primvar.

GetJointWeightsAttr()
Weights for the joints that affect each point of a PointBased gprim.

GetJointWeightsPrimvar()
Convenience function to get the jointWeights attribute as a primvar.

GetJointsAttr()
An (optional) array of tokens defining the list of joints to which jointIndices apply.

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

GetSkeleton(skel)
Convenience method to query the Skeleton bound on this prim.

GetSkeletonRel()
Skeleton to be bound to this prim and its descendents that possess a mapping and weighting to the joints of the identified Skeleton.

GetSkinningBlendWeightPrimvar

GetSkinningBlendWeightsAttr()
Weights for weighted blend skinning method.

GetSkinningMethodAttr()
Different calculation method for skinning.

SetRigidJointInfluence(jointIndex, weight)
Convenience method for defining joints influences that make a primitive rigidly deformed by a single joint.

ValidateJointIndices
classmethod ValidateJointIndices(indices, numJoints, reason) -> bool

static Apply()
classmethod Apply(prim) -> BindingAPI
Applies this single-apply API schema to the given prim .
This information is stored by adding”SkelBindingAPI”to the token-
valued, listOp metadata apiSchemas on the prim.
A valid UsdSkelBindingAPI object is returned upon success. An invalid
(or empty) UsdSkelBindingAPI 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) – 

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

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

CreateBlendShapesAttr(defaultValue, writeSparsely) → Attribute
See GetBlendShapesAttr() , 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) – 

CreateGeomBindTransformAttr(defaultValue, writeSparsely) → Attribute
See GetGeomBindTransformAttr() , 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) – 

CreateJointIndicesAttr(defaultValue, writeSparsely) → Attribute
See GetJointIndicesAttr() , 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) – 

CreateJointIndicesPrimvar(constant, elementSize) → Primvar
Convenience function to create the jointIndices primvar, optionally
specifying elementSize.
If constant is true, the resulting primvar is configured
with’constant’interpolation, and describes a rigid deformation.
Otherwise, the primvar is configured with’vertex’interpolation, and
describes joint influences that vary per point.
CreateJointIndicesAttr() , GetJointIndicesPrimvar()

Parameters

constant (bool) – 
elementSize (int) – 

CreateJointWeightsAttr(defaultValue, writeSparsely) → Attribute
See GetJointWeightsAttr() , 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) – 

CreateJointWeightsPrimvar(constant, elementSize) → Primvar
Convenience function to create the jointWeights primvar, optionally
specifying elementSize.
If constant is true, the resulting primvar is configured
with’constant’interpolation, and describes a rigid deformation.
Otherwise, the primvar is configured with’vertex’interpolation, and
describes joint influences that vary per point.
CreateJointWeightsAttr() , GetJointWeightsPrimvar()

Parameters

constant (bool) – 
elementSize (int) – 

CreateJointsAttr(defaultValue, writeSparsely) → Attribute
See GetJointsAttr() , 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) – 

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

CreateSkinningBlendWeightPrimvar()

CreateSkinningBlendWeightsAttr(defaultValue, writeSparsely) → Attribute
See GetSkinningBlendWeightsAttr() , 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) – 

CreateSkinningMethodAttr(defaultValue, writeSparsely) → Attribute
See GetSkinningMethodAttr() , 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) -> BindingAPI
Return a UsdSkelBindingAPI 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:
UsdSkelBindingAPI(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetAnimationSource(prim) → bool
Convenience method to query the animation source bound on this prim.
Returns true if an animation source binding is defined, and sets
prim to the target prim. The resulting primitive may still be
invalid, if the prim has been explicitly unbound.
This does not resolved inherited animation source bindings.

Parameters
prim (Prim) – 

GetAnimationSourceRel() → Relationship
Animation source to be bound to Skeleton primitives at or beneath the
location at which this property is defined.

GetBlendShapeTargetsRel() → Relationship
Ordered list of all target blend shapes.
This property is not inherited hierarchically, and is expected to be
authored directly on the skinnable primitive to which the the blend
shapes apply.

GetBlendShapesAttr() → Attribute
An array of tokens defining the order onto which blend shape weights
from an animation source map onto the skel:blendShapeTargets rel of
a binding site.
If authored, the number of elements must be equal to the number of
targets in the blendShapeTargets rel. This property is not inherited
hierarchically, and is expected to be authored directly on the
skinnable primitive to which the blend shapes apply.
Declaration
uniform token[] skel:blendShapes
C++ Type
VtArray<TfToken>
Usd Type
SdfValueTypeNames->TokenArray
Variability
SdfVariabilityUniform

GetGeomBindTransformAttr() → Attribute
Encodes the bind-time world space transforms of the prim.
If the transform is identical for a group of gprims that share a
common ancestor, the transform may be authored on the ancestor,
to”inherit”down to all the leaf gprims. If this transform is unset, an
identity transform is used instead.
Declaration
matrix4d primvars:skel:geomBindTransform
C++ Type
GfMatrix4d
Usd Type
SdfValueTypeNames->Matrix4d

GetInheritedAnimationSource() → Prim
Returns the animation source bound at this prim, or one of its
ancestors.

GetInheritedSkeleton() → Skeleton
Returns the skeleton bound at this prim, or one of its ancestors.

GetJointIndicesAttr() → Attribute
Indices into the joints attribute of the closest (in namespace)
bound Skeleton that affect each point of a PointBased gprim.
The primvar can have either constant or vertex interpolation. This
primvar’s elementSize will determine how many joint influences apply
to each point. Indices must point be valid. Null influences should be
defined by setting values in jointWeights to zero. See UsdGeomPrimvar
for more information on interpolation and elementSize.
Declaration
int[] primvars:skel:jointIndices
C++ Type
VtArray<int>
Usd Type
SdfValueTypeNames->IntArray

GetJointIndicesPrimvar() → Primvar
Convenience function to get the jointIndices attribute as a primvar.
GetJointIndicesAttr, GetInheritedJointWeightsPrimvar

GetJointWeightsAttr() → Attribute
Weights for the joints that affect each point of a PointBased gprim.
The primvar can have either constant or vertex interpolation. This
primvar’s elementSize will determine how many joints influences
apply to each point. The length, interpolation, and elementSize of
jointWeights must match that of jointIndices. See UsdGeomPrimvar
for more information on interpolation and elementSize.
Declaration
float[] primvars:skel:jointWeights
C++ Type
VtArray<float>
Usd Type
SdfValueTypeNames->FloatArray

GetJointWeightsPrimvar() → Primvar
Convenience function to get the jointWeights attribute as a primvar.
GetJointWeightsAttr, GetInheritedJointWeightsPrimvar

GetJointsAttr() → Attribute
An (optional) array of tokens defining the list of joints to which
jointIndices apply.
If not defined, jointIndices applies to the ordered list of joints
defined in the bound Skeleton’s joints attribute. If undefined on a
primitive, the primitive inherits the value of the nearest ancestor
prim, if any.
Declaration
uniform token[] skel:joints
C++ Type
VtArray<TfToken>
Usd Type
SdfValueTypeNames->TokenArray
Variability
SdfVariabilityUniform

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) – 

GetSkeleton(skel) → bool
Convenience method to query the Skeleton bound on this prim.
Returns true if a Skeleton binding is defined, and sets skel to
the target skel. The resulting Skeleton may still be invalid, if the
Skeleton has been explicitly unbound.
This does not resolved inherited skeleton bindings.

Parameters
skel (Skeleton) – 

GetSkeletonRel() → Relationship
Skeleton to be bound to this prim and its descendents that possess a
mapping and weighting to the joints of the identified Skeleton.

GetSkinningBlendWeightPrimvar()

GetSkinningBlendWeightsAttr() → Attribute
Weights for weighted blend skinning method.
The primvar can have either constant or vertex interpolation.
Constant interpolation means every vertex share the same single blend
weight. Vertex interpolation means every vertex has their own blend
weight. The element size should match the vertices count in this case.
C++ Type: VtArray<float>  Usd Type: SdfValueTypeNames->FloatArray
Variability: SdfVariabilityUniform  Fallback Value: No Fallback

GetSkinningMethodAttr() → Attribute
Different calculation method for skinning.
LBS, DQ, and blendWeight
C++ Type: TfToken  Usd Type: SdfValueTypeNames->Token  Variability:
SdfVariabilityUniform  Fallback Value: ClassicLinear  Allowed Values :
[ClassicLinear, DualQuaternion, WeightedBlend]

SetRigidJointInfluence(jointIndex, weight) → bool
Convenience method for defining joints influences that make a
primitive rigidly deformed by a single joint.

Parameters

jointIndex (int) – 
weight (float) – 

static ValidateJointIndices()
classmethod ValidateJointIndices(indices, numJoints, reason) -> bool
Validate an array of joint indices.
This ensures that all indices are the in the range [0, numJoints).
Returns true if the indices are valid, or false otherwise. If invalid
and reason is non-null, an error message describing the first
validation error will be set.

Parameters

indices (TfSpan[int]) – 
numJoints (int) – 
reason (str) – 

class pxr.UsdSkel.BlendShape
Describes a target blend shape, possibly containing inbetween shapes.
See the extended Blend Shape Schema documentation for information.
Methods:

CreateInbetween(name)
Author scene description to create an attribute on this prim that will be recognized as an Inbetween (i.e.

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

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

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

Define
classmethod Define(stage, path) -> BlendShape

Get
classmethod Get(stage, path) -> BlendShape

GetAuthoredInbetweens()
Like GetInbetweens() , but exclude inbetwens that have no authored scene / description.

GetInbetween(name)
Return the Inbetween corresponding to the attribute named name , which will be valid if an Inbetween attribute definition already exists.

GetInbetweens()
Return valid UsdSkelInbetweenShape objects for all defined Inbetweens on this prim.

GetNormalOffsetsAttr()
Required property.

GetOffsetsAttr()
Required property.

GetPointIndicesAttr()
Optional property.

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

HasInbetween(name)
Return true if there is a defined Inbetween named name on this prim.

ValidatePointIndices
classmethod ValidatePointIndices(indices, numPoints, reason) -> bool

CreateInbetween(name) → InbetweenShape
Author scene description to create an attribute on this prim that will
be recognized as an Inbetween (i.e.
will present as a valid UsdSkelInbetweenShape).
The name of the created attribute or may or may not be the specified
attrName , due to the possible need to apply property namespacing.
Creation may fail and return an invalid Inbetwen if attrName
contains a reserved keyword.
an invalid UsdSkelInbetweenShape if we failed to create a valid
attribute, a valid UsdSkelInbetweenShape otherwise. It is not an error
to create over an existing, compatible attribute.
UsdSkelInbetweenShape::IsInbetween()

Parameters
name (str) – 

CreateNormalOffsetsAttr(defaultValue, writeSparsely) → Attribute
See GetNormalOffsetsAttr() , 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) – 

CreateOffsetsAttr(defaultValue, writeSparsely) → Attribute
See GetOffsetsAttr() , 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) – 

CreatePointIndicesAttr(defaultValue, writeSparsely) → Attribute
See GetPointIndicesAttr() , 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) -> BlendShape
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) -> BlendShape
Return a UsdSkelBlendShape 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:
UsdSkelBlendShape(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetAuthoredInbetweens() → list[InbetweenShape]
Like GetInbetweens() , but exclude inbetwens that have no authored
scene / description.

GetInbetween(name) → InbetweenShape
Return the Inbetween corresponding to the attribute named name ,
which will be valid if an Inbetween attribute definition already
exists.
Name lookup will account for Inbetween namespacing, which means that
this method will succeed in some cases where UsdSkelInbetweenShape
(prim->GetAttribute(name)) will not, unless name has the proper
namespace prefix.
HasInbetween()

Parameters
name (str) – 

GetInbetweens() → list[InbetweenShape]
Return valid UsdSkelInbetweenShape objects for all defined Inbetweens
on this prim.

GetNormalOffsetsAttr() → Attribute
Required property.
Normal offsets which, when added to the base pose, provides the
normals of the target shape.
Declaration
uniform vector3f[] normalOffsets
C++ Type
VtArray<GfVec3f>
Usd Type
SdfValueTypeNames->Vector3fArray
Variability
SdfVariabilityUniform

GetOffsetsAttr() → Attribute
Required property.
Position offsets which, when added to the base pose, provides the
target shape.
Declaration
uniform vector3f[] offsets
C++ Type
VtArray<GfVec3f>
Usd Type
SdfValueTypeNames->Vector3fArray
Variability
SdfVariabilityUniform

GetPointIndicesAttr() → Attribute
Optional property.
Indices into the original mesh that correspond to the values in
offsets and of any inbetween shapes. If authored, the number of
elements must be equal to the number of elements in the offsets
array.
Declaration
uniform int[] pointIndices
C++ Type
VtArray<int>
Usd Type
SdfValueTypeNames->IntArray
Variability
SdfVariabilityUniform

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) – 

HasInbetween(name) → bool
Return true if there is a defined Inbetween named name on this
prim.
Name lookup will account for Inbetween namespacing.
GetInbetween()

Parameters
name (str) – 

static ValidatePointIndices()
classmethod ValidatePointIndices(indices, numPoints, reason) -> bool
Validates a set of point indices for a given point count.
This ensures that all point indices are in the range [0, numPoints).
Returns true if the indices are valid, or false otherwise. If invalid
and reason is non-null, an error message describing the first
validation error will be set.

Parameters

indices (TfSpan[int]) – 
numPoints (int) – 
reason (str) – 

class pxr.UsdSkel.BlendShapeQuery
Helper class used to resolve blend shape weights, including
inbetweens.
Methods:

ComputeBlendShapePointIndices()
Compute an array holding the point indices of all shapes.

ComputeDeformedPoints(subShapeWeights, ...)
Deform points using the resolved sub-shapes given by subShapeWeights , blendShapeIndices and subShapeIndices .

ComputeSubShapePointOffsets()
Compute an array holding the point offsets of all sub-shapes.

ComputeSubShapeWeights(weights, ...)
Compute the resolved weights for all sub-shapes bound to this prim.

GetBlendShape(blendShapeIndex)
Returns the blend shape corresponding to blendShapeIndex .

GetBlendShapeIndex(subShapeIndex)
Returns the blend shape index corresponding to the i'th sub-shape.

GetInbetween(subShapeIndex)
Returns the inbetween shape corresponding to sub-shape i , if any.

GetNumBlendShapes()

GetNumSubShapes()

ComputeBlendShapePointIndices() → list[IntArray]
Compute an array holding the point indices of all shapes.
This is indexed by the blendShapeIndices returned by
ComputeSubShapes(). Since the pointIndices property of blend shapes
is optional, some of the arrays may be empty.

ComputeDeformedPoints(subShapeWeights, blendShapeIndices, subShapeIndices, blendShapePointIndices, subShapePointOffsets, points) → bool
Deform points using the resolved sub-shapes given by
subShapeWeights , blendShapeIndices and subShapeIndices .
The blendShapePointIndices and blendShapePointOffsets arrays
both provide the pre-computed point offsets and indices of each sub-
shape, as computed by ComputeBlendShapePointIndices() and
ComputeSubShapePointOffsets() .

Parameters

subShapeWeights (TfSpan[float]) – 
blendShapeIndices (TfSpan[unsigned]) – 
subShapeIndices (TfSpan[unsigned]) – 
blendShapePointIndices (list[IntArray]) – 
subShapePointOffsets (list[Vec3fArray]) – 
points (TfSpan[Vec3f]) – 

ComputeSubShapePointOffsets() → list[Vec3fArray]
Compute an array holding the point offsets of all sub-shapes.
This includes offsets of both primary shapes  those stored directly on
a BlendShape primitive  as well as those of inbetween shapes. This is
indexed by the subShapeIndices returned by ComputeSubShapeWeights()
.

ComputeSubShapeWeights(weights, subShapeWeights, blendShapeIndices, subShapeIndices) → bool
Compute the resolved weights for all sub-shapes bound to this prim.
The weights values are initial weight values, ordered according to
the skel:blendShapeTargets relationship of the prim this query is
associated with. If there are any inbetween shapes, a new set of
weights is computed, providing weighting of the relevant inbetweens.
All computed arrays shared the same size. Elements of the same index
identify which sub-shape of which blend shape a given weight value is
mapped to.

Parameters

weights (TfSpan[float]) – 
subShapeWeights (FloatArray) – 
blendShapeIndices (UIntArray) – 
subShapeIndices (UIntArray) – 

GetBlendShape(blendShapeIndex) → BlendShape
Returns the blend shape corresponding to blendShapeIndex .

Parameters
blendShapeIndex (int) – 

GetBlendShapeIndex(subShapeIndex) → int
Returns the blend shape index corresponding to the i'th sub-shape.

Parameters
subShapeIndex (int) – 

GetInbetween(subShapeIndex) → InbetweenShape
Returns the inbetween shape corresponding to sub-shape i , if any.

Parameters
subShapeIndex (int) – 

GetNumBlendShapes() → int

GetNumSubShapes() → int

class pxr.UsdSkel.Cache
Thread-safe cache for accessing query objects for evaluating skeletal
data.
This provides caching of major structural components, such as skeletal
topology. In a streaming context, this cache is intended to persist.
Methods:

Clear()

ComputeSkelBinding(skelRoot, skel, binding, ...)
Compute the bindings corresponding to a single skeleton, bound beneath skelRoot , as discovered through a traversal using predicate .

ComputeSkelBindings(skelRoot, bindings, ...)
Compute the set of skeleton bindings beneath skelRoot , as discovered through a traversal using predicate .

GetAnimQuery(anim)
Get an anim query corresponding to anim .

GetSkelQuery(skel)
Get a skel query for computing properties of skel .

GetSkinningQuery(prim)
Get a skinning query at prim .

Populate(root, predicate)
Populate the cache for the skeletal data beneath prim root , as traversed using predicate .

Clear() → None

ComputeSkelBinding(skelRoot, skel, binding, predicate) → bool
Compute the bindings corresponding to a single skeleton, bound beneath
skelRoot , as discovered through a traversal using predicate .
Skinnable prims are only discoverable by this method if Populate() has
already been called for skelRoot , with an equivalent predicate.

Parameters

skelRoot (Root) – 
skel (Skeleton) – 
binding (Binding) – 
predicate (_PrimFlagsPredicate) – 

ComputeSkelBindings(skelRoot, bindings, predicate) → bool
Compute the set of skeleton bindings beneath skelRoot , as
discovered through a traversal using predicate .
Skinnable prims are only discoverable by this method if Populate() has
already been called for skelRoot , with an equivalent predicate.

Parameters

skelRoot (Root) – 
bindings (list[Binding]) – 
predicate (_PrimFlagsPredicate) – 

GetAnimQuery(anim) → AnimQuery
Get an anim query corresponding to anim .
This does not require Populate() to be called on the cache.

Parameters
anim (Animation) – 

GetAnimQuery(prim) -> AnimQuery
This is an overloaded member function, provided for convenience. It
differs from the above function only in what argument(s) it accepts.
Deprecated

Parameters
prim (Prim) – 

GetSkelQuery(skel) → SkeletonQuery
Get a skel query for computing properties of skel .
This does not require Populate() to be called on the cache.

Parameters
skel (Skeleton) – 

GetSkinningQuery(prim) → SkinningQuery
Get a skinning query at prim .
Skinning queries are defined at any skinnable prims (I.e., boundable
prims with fully defined joint influences).
The caller must first Populate() the cache with the skel root
containing prim , with a predicate that will visit prim , in
order for a skinning query to be discoverable.

Parameters
prim (Prim) – 

Populate(root, predicate) → bool
Populate the cache for the skeletal data beneath prim root , as
traversed using predicate .
Population resolves inherited skel bindings set using the
UsdSkelBindingAPI, making resolved bindings available through
GetSkinningQuery() , ComputeSkelBdining() and ComputeSkelBindings() .

Parameters

root (Root) – 
predicate (_PrimFlagsPredicate) – 

class pxr.UsdSkel.InbetweenShape
Schema wrapper for UsdAttribute for authoring and introspecting
attributes that serve as inbetween shapes of a UsdSkelBlendShape.
Inbetween shapes allow an explicit shape to be specified when the
blendshape to which it’s bound is evaluated at a certain weight. For
example, rather than performing piecewise linear interpolation between
a primary shape and the rest shape at weight 0.5, an inbetween shape
could be defined at the weight. For weight values greater than 0.5, a
shape would then be resolved by linearly interpolating between the
inbetween shape and the primary shape, while for weight values less
than or equal to 0.5, the shape is resolved by linearly interpolating
between the inbetween shape and the primary shape.
Methods:

CreateNormalOffsetsAttr(defaultValue)
Returns the existing normal offsets attribute if the shape has normal offsets, or creates a new one.

GetAttr()
Explicit UsdAttribute extractor.

GetNormalOffsets(offsets)
Get the normal offsets authored for this shape.

GetNormalOffsetsAttr()
Returns a valid normal offsets attribute if the shape has normal offsets.

GetOffsets(offsets)
Get the point offsets corresponding to this shape.

GetWeight(weight)
Return the location at which the shape is applied.

HasAuthoredWeight()
Has a weight value been explicitly authored on this shape?

IsDefined()
Return true if the wrapped UsdAttribute::IsDefined() , and in addition the attribute is identified as an Inbetween.

IsInbetween
classmethod IsInbetween(attr) -> bool

SetNormalOffsets(offsets)
Set the normal offsets authored for this shape.

SetOffsets(offsets)
Set the point offsets corresponding to this shape.

SetWeight(weight)
Set the location at which the shape is applied.

CreateNormalOffsetsAttr(defaultValue) → Attribute
Returns the existing normal offsets attribute if the shape has normal
offsets, or creates a new one.

Parameters
defaultValue (VtValue) – 

GetAttr() → Attribute
Explicit UsdAttribute extractor.

GetNormalOffsets(offsets) → bool
Get the normal offsets authored for this shape.
Normal offsets are optional, and may be left unspecified.

Parameters
offsets (Vec3fArray) – 

GetNormalOffsetsAttr() → Attribute
Returns a valid normal offsets attribute if the shape has normal
offsets.
Returns an invalid attribute otherwise.

GetOffsets(offsets) → bool
Get the point offsets corresponding to this shape.

Parameters
offsets (Vec3fArray) – 

GetWeight(weight) → bool
Return the location at which the shape is applied.

Parameters
weight (float) – 

HasAuthoredWeight() → bool
Has a weight value been explicitly authored on this shape?
GetWeight()

IsDefined() → bool
Return true if the wrapped UsdAttribute::IsDefined() , and in addition
the attribute is identified as an Inbetween.

static IsInbetween()
classmethod IsInbetween(attr) -> bool
Test whether a given UsdAttribute represents a valid Inbetween, which
implies that creating a UsdSkelInbetweenShape from the attribute will
succeed.
Succes implies that attr.IsDefined() is true.

Parameters
attr (Attribute) – 

SetNormalOffsets(offsets) → bool
Set the normal offsets authored for this shape.

Parameters
offsets (Vec3fArray) – 

SetOffsets(offsets) → bool
Set the point offsets corresponding to this shape.

Parameters
offsets (Vec3fArray) – 

SetWeight(weight) → bool
Set the location at which the shape is applied.

Parameters
weight (float) – 

class pxr.UsdSkel.PackedJointAnimation
Deprecated. Please use SkelAnimation instead.
Methods:

Define
classmethod Define(stage, path) -> PackedJointAnimation

Get
classmethod Get(stage, path) -> PackedJointAnimation

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

static Define()
classmethod Define(stage, path) -> PackedJointAnimation
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) -> PackedJointAnimation
Return a UsdSkelPackedJointAnimation 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:
UsdSkelPackedJointAnimation(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.UsdSkel.Root
Boundable prim type used to identify a scope beneath which skeletally-
posed primitives are defined.
A SkelRoot must be defined at or above a skinned primitive for any
skinning behaviors in UsdSkel.
See the extended Skel Root Schema documentation for more information.
Methods:

Define
classmethod Define(stage, path) -> Root

Find
classmethod Find(prim) -> Root

Get
classmethod Get(stage, path) -> Root

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

static Define()
classmethod Define(stage, path) -> Root
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 Find()
classmethod Find(prim) -> Root
Returns the skel root at or above prim , or an invalid schema
object  if no ancestor prim is defined as a skel root.

Parameters
prim (Prim) – 

static Get()
classmethod Get(stage, path) -> Root
Return a UsdSkelRoot 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:
UsdSkelRoot(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.UsdSkel.Skeleton
Describes a skeleton.
See the extended Skeleton Schema documentation for more information.
Methods:

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

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

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

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

Define
classmethod Define(stage, path) -> Skeleton

Get
classmethod Get(stage, path) -> Skeleton

GetBindTransformsAttr()
Specifies the bind-pose transforms of each joint in world space, in the ordering imposed by joints.

GetJointNamesAttr()
If authored, provides a unique name per joint.

GetJointsAttr()
An array of path tokens identifying the set of joints that make up the skeleton, and their order.

GetRestTransformsAttr()
Specifies the rest-pose transforms of each joint in local space, in the ordering imposed by joints.

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

CreateBindTransformsAttr(defaultValue, writeSparsely) → Attribute
See GetBindTransformsAttr() , 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) – 

CreateJointNamesAttr(defaultValue, writeSparsely) → Attribute
See GetJointNamesAttr() , 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) – 

CreateJointsAttr(defaultValue, writeSparsely) → Attribute
See GetJointsAttr() , 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) – 

CreateRestTransformsAttr(defaultValue, writeSparsely) → Attribute
See GetRestTransformsAttr() , 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) -> Skeleton
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) -> Skeleton
Return a UsdSkelSkeleton 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:
UsdSkelSkeleton(stage->GetPrimAtPath(path));

Parameters

stage (Stage) – 
path (Path) – 

GetBindTransformsAttr() → Attribute
Specifies the bind-pose transforms of each joint in world space,
in the ordering imposed by joints.
Declaration
uniform matrix4d[] bindTransforms
C++ Type
VtArray<GfMatrix4d>
Usd Type
SdfValueTypeNames->Matrix4dArray
Variability
SdfVariabilityUniform

GetJointNamesAttr() → Attribute
If authored, provides a unique name per joint.
This may be optionally set to provide better names when translating to
DCC apps that require unique joint names.
Declaration
uniform token[] jointNames
C++ Type
VtArray<TfToken>
Usd Type
SdfValueTypeNames->TokenArray
Variability
SdfVariabilityUniform

GetJointsAttr() → Attribute
An array of path tokens identifying the set of joints that make up the
skeleton, and their order.
Each token in the array must be valid when parsed as an SdfPath. The
parent-child relationships of the corresponding paths determine the
parent-child relationships of each joint. It is not required that the
name at the end of each path be unique, but rather only that the paths
themselves be unique.
Declaration
uniform token[] joints
C++ Type
VtArray<TfToken>
Usd Type
SdfValueTypeNames->TokenArray
Variability
SdfVariabilityUniform

GetRestTransformsAttr() → Attribute
Specifies the rest-pose transforms of each joint in local space,
in the ordering imposed by joints.
This provides fallback values for joint transforms when a Skeleton
either has no bound animation source, or when that animation source
only contains animation for a subset of a Skeleton’s joints.
Declaration
uniform matrix4d[] restTransforms
C++ Type
VtArray<GfMatrix4d>
Usd Type
SdfValueTypeNames->Matrix4dArray
Variability
SdfVariabilityUniform

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.UsdSkel.SkeletonQuery
Primary interface to reading bound skeleton data. This is used to
query properties such as resolved transforms and animation bindings,
as bound through the UsdSkelBindingAPI.
A UsdSkelSkeletonQuery can not be constructed directly, and instead
must be constructed through a UsdSkelCache instance. This is done as
follows:
// Global cache, intended to persist.
UsdSkelCache skelCache;
// Populate the cache for a skel root.
skelCache.Populate(UsdSkelRoot(skelRootPrim));

if (UsdSkelSkeletonQuery skelQuery = skelCache.GetSkelQuery(skelPrim)) {
    \.\.\.
}

Methods:

ComputeJointLocalTransforms(xforms, time, atRest)
Compute joint transforms in joint-local space, at time .

ComputeJointRestRelativeTransforms(xforms, time)
Compute joint transforms which, when concatenated against the rest pose, produce joint transforms in joint-local space.

ComputeJointSkelTransforms(xforms, time, atRest)
Compute joint transforms in skeleton space, at time .

ComputeJointWorldTransforms(xforms, xfCache, ...)
Compute joint transforms in world space, at whatever time is configured on xfCache .

ComputeSkinningTransforms(xforms, time)
Compute transforms representing the change in transformation of a joint from its rest pose, in skeleton space.

GetAnimQuery()
Returns the animation query that provides animation for the bound skeleton instance, if any.

GetJointOrder()
Returns an array of joint paths, given as tokens, describing the order and parent-child relationships of joints in the skeleton.

GetJointWorldBindTransforms(xforms)
Returns the world space joint transforms at bind time.

GetMapper()
Returns a mapper for remapping from the bound animation, if any, to the Skeleton.

GetPrim()
Returns the underlying Skeleton primitive corresponding to the bound skeleton instance, if any.

GetSkeleton()
Returns the bound skeleton instance, if any.

GetTopology()
Returns the topology of the bound skeleton instance, if any.

HasBindPose()
Returns true if the size of the array returned by skeleton::GetBindTransformsAttr() matches the number of joints in the skeleton.

HasRestPose()
Returns true if the size of the array returned by skeleton::GetRestTransformsAttr() matches the number of joints in the skeleton.

ComputeJointLocalTransforms(xforms, time, atRest) → bool
Compute joint transforms in joint-local space, at time .
This returns transforms in joint order of the skeleton. If atRest
is false and an animation source is bound, local transforms defined by
the animation are mapped into the skeleton’s joint order. Any
transforms not defined by the animation source use the transforms from
the rest pose as a fallback value. If valid transforms cannot be
computed for the animation source, the xforms are instead set to
the rest transforms.

Parameters

xforms (VtArray[Matrix4]) – 
time (TimeCode) – 
atRest (bool) – 

ComputeJointRestRelativeTransforms(xforms, time) → bool
Compute joint transforms which, when concatenated against the rest
pose, produce joint transforms in joint-local space.
More specifically, this computes restRelativeTransform in:
restRelativeTransform \* restTransform = jointLocalTransform

Parameters

xforms (VtArray[Matrix4]) – 
time (TimeCode) – 

ComputeJointSkelTransforms(xforms, time, atRest) → bool
Compute joint transforms in skeleton space, at time .
This concatenates joint transforms as computed from
ComputeJointLocalTransforms() . If atRest is true, any bound
animation source is ignored, and transforms are computed from the rest
pose. The skeleton-space transforms of the rest pose are cached
internally.

Parameters

xforms (VtArray[Matrix4]) – 
time (TimeCode) – 
atRest (bool) – 

ComputeJointWorldTransforms(xforms, xfCache, atRest) → bool
Compute joint transforms in world space, at whatever time is
configured on xfCache .
This is equivalent to computing skel-space joint transforms with
CmoputeJointSkelTransforms(), and then concatenating all transforms by
the local-to-world transform of the Skeleton prim. If atRest is
true, any bound animation source is ignored, and transforms are
computed from the rest pose.

Parameters

xforms (VtArray[Matrix4]) – 
xfCache (XformCache) – 
atRest (bool) – 

ComputeSkinningTransforms(xforms, time) → bool
Compute transforms representing the change in transformation of a
joint from its rest pose, in skeleton space.
I.e.,
inverse(bindTransform)\*jointTransform

These are the transforms usually required for skinning.

Parameters

xforms (VtArray[Matrix4]) – 
time (TimeCode) – 

GetAnimQuery() → AnimQuery
Returns the animation query that provides animation for the bound
skeleton instance, if any.

GetJointOrder() → TokenArray
Returns an array of joint paths, given as tokens, describing the order
and parent-child relationships of joints in the skeleton.
UsdSkelSkeleton::GetJointOrder

GetJointWorldBindTransforms(xforms) → bool
Returns the world space joint transforms at bind time.

Parameters
xforms (VtArray[Matrix4]) – 

GetMapper() → AnimMapper
Returns a mapper for remapping from the bound animation, if any, to
the Skeleton.

GetPrim() → Prim
Returns the underlying Skeleton primitive corresponding to the bound
skeleton instance, if any.

GetSkeleton() → Skeleton
Returns the bound skeleton instance, if any.

GetTopology() → Topology
Returns the topology of the bound skeleton instance, if any.

HasBindPose() → bool
Returns true if the size of the array returned by
skeleton::GetBindTransformsAttr() matches the number of joints in the
skeleton.

HasRestPose() → bool
Returns true if the size of the array returned by
skeleton::GetRestTransformsAttr() matches the number of joints in the
skeleton.

class pxr.UsdSkel.SkinningQuery
Object used for querying resolved bindings for skinning.
Methods:

ComputeExtentsPadding(skelRestXforms, boundable)
Helper for computing an approximate padding for use in extents computations.

ComputeJointInfluences(indices, weights, time)
Convenience method for computing joint influences.

ComputeSkinnedPoints(xforms, points, time)
Compute skinned points using linear blend skinning.

ComputeSkinnedTransform(xforms, xform, time)
Compute a skinning transform using linear blend skinning.

ComputeVaryingJointInfluences(numPoints, ...)
Convenience method for computing joint influence, where constant influences are expanded to hold values per point.

GetBlendShapeMapper()
Return the mapper for remapping blend shapes from the order of the bound SkelAnimation to the local blend shape order of this prim.

GetBlendShapeOrder(blendShapes)
Get the blend shapes for this skinning site, if any.

GetBlendShapeTargetsRel()

GetBlendShapesAttr()

GetGeomBindTransform(time)

param time

GetGeomBindTransformAttr()

GetInterpolation()

GetJointIndicesPrimvar()

GetJointMapper()
Return a mapper for remapping from the joint order of the skeleton to the local joint order of this prim, if any.

GetJointOrder(jointOrder)
Get the custom joint order for this skinning site, if any.

GetJointWeightsPrimvar()

GetMapper()
Deprecated

GetNumInfluencesPerComponent()
Returns the number of influences encoded for each component.

GetPrim()

GetSkinningBlendWeightsPrimvar()

GetSkinningMethodAttr()

GetTimeSamples(times)
Populate times with the union of time samples for all properties that affect skinning, independent of joint transforms and any other prim-specific properties (such as points).

GetTimeSamplesInInterval(interval, times)
Populate times with the union of time samples within interval , for all properties that affect skinning, independent of joint transforms and any other prim-specific properties (such as points).

HasBlendShapes()
Returns true if there are blend shapes associated with this prim.

HasJointInfluences()
Returns true if joint influence data is associated with this prim.

IsRigidlyDeformed()
Returns true if the held prim has the same joint influences across all points, or false otherwise.

ComputeExtentsPadding(skelRestXforms, boundable) → float
Helper for computing an approximate padding for use in extents
computations.
The padding is computed as the difference between the pivots of the
skelRestXforms skeleton space joint transforms at rest  and the
extents of the skinned primitive. This is intended to provide a
suitable, constant metric for padding joint extents as computed by
UsdSkelComputeJointsExtent.

Parameters

skelRestXforms (VtArray[Matrix4]) – 
boundable (Boundable) – 

ComputeJointInfluences(indices, weights, time) → bool
Convenience method for computing joint influences.
In addition to querying influences, this will also perform validation
of the basic form of the weight data  although the array contents is
not validated.

Parameters

indices (IntArray) – 
weights (FloatArray) – 
time (TimeCode) – 

ComputeSkinnedPoints(xforms, points, time) → bool
Compute skinned points using linear blend skinning.
Both xforms and points are given in skeleton space, using
the joint order of the bound skeleton. Joint influences and the
(optional) binding transform are computed at time time (which will
typically be unvarying).
UsdSkelSkeletonQuery::ComputeSkinningTransforms

Parameters

xforms (VtArray[Matrix4]) – 
points (Vec3fArray) – 
time (TimeCode) – 

ComputeSkinnedTransform(xforms, xform, time) → bool
Compute a skinning transform using linear blend skinning.
The xforms are given in skeleton space, using the joint order of
the bound skeleton. Joint influences and the (optional) binding
transform are computed at time time (which will typically be
unvarying). If this skinning query holds non-constant joint
influences, no transform will be computed, and the function will
return false.
UsdSkelSkeletonQuery::ComputeSkinningTransforms

Parameters

xforms (VtArray[Matrix4]) – 
xform (Matrix4) – 
time (TimeCode) – 

ComputeVaryingJointInfluences(numPoints, indices, weights, time) → bool
Convenience method for computing joint influence, where constant
influences are expanded to hold values per point.
In addition to querying influences, this will also perform validation
of the basic form of the weight data  although the array contents is
not validated.

Parameters

numPoints (int) – 
indices (IntArray) – 
weights (FloatArray) – 
time (TimeCode) – 

GetBlendShapeMapper() → AnimMapper
Return the mapper for remapping blend shapes from the order of the
bound SkelAnimation to the local blend shape order of this prim.
Returns a null reference if the underlying prim has no blend shapes.
The mapper maps data from the order given by the blendShapes order
on the SkelAnimation to the order given by the skel:blendShapes
property, as set through the UsdSkelBindingAPI.

GetBlendShapeOrder(blendShapes) → bool
Get the blend shapes for this skinning site, if any.

Parameters
blendShapes (TokenArray) – 

GetBlendShapeTargetsRel() → Relationship

GetBlendShapesAttr() → Attribute

GetGeomBindTransform(time) → Matrix4d

Parameters
time (TimeCode) – 

GetGeomBindTransformAttr() → Attribute

GetInterpolation() → str

GetJointIndicesPrimvar() → Primvar

GetJointMapper() → AnimMapper
Return a mapper for remapping from the joint order of the skeleton to
the local joint order of this prim, if any.
Returns a null pointer if the prim has no custom joint orer. The
mapper maps data from the order given by the joints order on the
Skeleton to the order given by the skel:joints property, as
optionally set through the UsdSkelBindingAPI.

GetJointOrder(jointOrder) → bool
Get the custom joint order for this skinning site, if any.

Parameters
jointOrder (TokenArray) – 

GetJointWeightsPrimvar() → Primvar

GetMapper() → AnimMapper
Deprecated
Use GetJointMapper.

GetNumInfluencesPerComponent() → int
Returns the number of influences encoded for each component.
If the prim defines rigid joint influences, then this returns the
number of influences that map to every point. Otherwise, this provides
the number of influences per point.
IsRigidlyDeformed

GetPrim() → Prim

GetSkinningBlendWeightsPrimvar() → Primvar

GetSkinningMethodAttr() → Attribute

GetTimeSamples(times) → bool
Populate times with the union of time samples for all properties
that affect skinning, independent of joint transforms and any other
prim-specific properties (such as points).
UsdAttribute::GetTimeSamples

Parameters
times (list[float]) – 

GetTimeSamplesInInterval(interval, times) → bool
Populate times with the union of time samples within interval
, for all properties that affect skinning, independent of joint
transforms and any other prim-specific properties (such as points).
UsdAttribute::GetTimeSamplesInInterval

Parameters

interval (Interval) – 
times (list[float]) – 

HasBlendShapes() → bool
Returns true if there are blend shapes associated with this prim.

HasJointInfluences() → bool
Returns true if joint influence data is associated with this prim.

IsRigidlyDeformed() → bool
Returns true if the held prim has the same joint influences across all
points, or false otherwise.

class pxr.UsdSkel.Tokens
Attributes:

bindTransforms

blendShapeWeights

blendShapes

classicLinear

dualQuaternion

jointNames

joints

normalOffsets

offsets

pointIndices

primvarsSkelGeomBindTransform

primvarsSkelJointIndices

primvarsSkelJointWeights

primvarsSkelSkinningBlendWeights

restTransforms

rotations

scales

skelAnimationSource

skelBlendShapeTargets

skelBlendShapes

skelJoints

skelSkeleton

skelSkinningMethod

translations

weight

weightedBlend

bindTransforms = 'bindTransforms'

blendShapeWeights = 'blendShapeWeights'

blendShapes = 'blendShapes'

classicLinear = 'ClassicLinear'

dualQuaternion = 'DualQuaternion'

jointNames = 'jointNames'

joints = 'joints'

normalOffsets = 'normalOffsets'

offsets = 'offsets'

pointIndices = 'pointIndices'

primvarsSkelGeomBindTransform = 'primvars:skel:geomBindTransform'

primvarsSkelJointIndices = 'primvars:skel:jointIndices'

primvarsSkelJointWeights = 'primvars:skel:jointWeights'

primvarsSkelSkinningBlendWeights = 'primvars:skel:skinningBlendWeights'

restTransforms = 'restTransforms'

rotations = 'rotations'

scales = 'scales'

skelAnimationSource = 'skel:animationSource'

skelBlendShapeTargets = 'skel:blendShapeTargets'

skelBlendShapes = 'skel:blendShapes'

skelJoints = 'skel:joints'

skelSkeleton = 'skel:skeleton'

skelSkinningMethod = 'skel:skinningMethod'

translations = 'translations'

weight = 'weight'

weightedBlend = 'WeightedBlend'

class pxr.UsdSkel.Topology
Object holding information describing skeleton topology. This provides
the hierarchical information needed to reason about joint
relationships in a manner suitable to computations.
Methods:

GetNumJoints()

GetParent(index)
Returns the parent joint of the index'th joint, Returns -1 for joints with no parent (roots).

GetParentIndices()

IsRoot(index)
Returns true if the index'th joint is a root joint.

Validate(reason)
Validate the topology.

GetNumJoints() → int

GetParent(index) → int
Returns the parent joint of the index'th joint, Returns -1 for
joints with no parent (roots).

Parameters
index (int) – 

GetParentIndices() → IntArray

IsRoot(index) → bool
Returns true if the index'th joint is a root joint.

Parameters
index (int) – 

Validate(reason) → bool
Validate the topology.
If validation is unsuccessful, a reason why will be written to
reason , if provided.

Parameters
reason (str) – 

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