newton.utils.SimRendererUsd#

class newton.utils.SimRendererUsd(model, stage, source_stage=None, scaling=1.0, fps=60, up_axis=None, show_joints=False, path_body_map=None, path_body_relative_transform=None, builder_results=None, **render_kwargs)[source]#

Bases: SimRenderer

USD renderer for Newton Physics simulations.

This renderer exports simulation data to USD (Universal Scene Description) format, which can be visualized in Omniverse or other USD-compatible viewers.

This renderer supports rendering a Newton simulation as a time-sampled animation of USD prims through the render_update_stage method. This method requires a source stage, a path_body_map, a path_body_relative_transform, and builder_results.

Parameters:
  • model (newton.Model) – The Newton physics model to render.

  • path (str) – Output path for the USD file.

  • scaling (float, optional) – Scaling factor for the rendered objects. Defaults to 1.0.

  • fps (int, optional) – Frames per second for the animation. Defaults to 60.

  • up_axis (newton.AxisType, optional) – Up axis for the scene. If None, uses model’s up axis.

  • show_rigid_contact_points (bool, optional) – Whether to show contact points. Defaults to False.

  • contact_points_radius (float, optional) – Radius of contact point spheres. Defaults to 1e-3.

  • show_joints (bool, optional) – Whether to show joint visualizations. Defaults to False.

  • **render_kwargs – Additional arguments passed to the underlying UsdRenderer.

Example

import newton

model = newton.Model()  # your model setup
renderer = newton.utils.SimRendererUsd(model, "output.usd", scaling=2.0)
# In your simulation loop:
renderer.begin_frame(time)
renderer.render(state)
renderer.end_frame()
renderer.save()  # Save the USD file
__init__(model, stage, source_stage=None, scaling=1.0, fps=60, up_axis=None, show_joints=False, path_body_map=None, path_body_relative_transform=None, builder_results=None, **render_kwargs)#

Construct a SimRendererUsd object.

Parameters:
  • model (newton.Model) – The Newton physics model to render.

  • stage (str | Usd.Stage) – The USD stage to render to. This is the output stage.

  • source_stage (str | Usd.Stage, optional) – The USD stage to use as a source for the output stage.

  • scaling (float, optional) – Scaling factor for the rendered objects. Defaults to 1.0.

  • fps (int, optional) – Frames per second for the animation. Defaults to 60.

  • up_axis (newton.AxisType, optional) – Up axis for the scene. If None, uses model’s up axis. Defaults to None.

  • show_joints (bool, optional) – Whether to show joint visualizations. Defaults to False.

  • path_body_map (dict, optional) – A dictionary mapping prim paths to body IDs.

  • path_body_relative_transform (dict, optional) – A dictionary mapping prim paths to relative transformations.

  • builder_results (dict, optional) – A dictionary containing builder results.

  • **render_kwargs – Additional arguments passed to the underlying UsdRenderer.