newton.viewer.ViewerRerun#

class newton.viewer.ViewerRerun(server=True, address='127.0.0.1:9876', launch_viewer=True, app_id=None)[source]#

Bases: ViewerBase

ViewerRerun provides a backend for visualizing Newton simulations using the rerun visualization library.

This viewer logs mesh and instance data to rerun, enabling real-time or offline visualization of simulation geometry and transforms. It supports both server and client modes, and can optionally launch a web viewer. The class manages mesh assets, instanced geometry, and frame/timeline synchronization with rerun.

__init__(server=True, address='127.0.0.1:9876', launch_viewer=True, app_id=None)#

Initialize the ViewerRerun backend for Newton using the rerun visualization library.

Parameters:

  • server (bool) – If True, start rerun in server mode (TCP/gRPC).

  • address (str) – Address and port for rerun server mode.

  • launch_viewer (bool) – If True, launch a local rerun viewer client.

  • app_id (Optional[str]) – Application ID for rerun (defaults to ‘newton-viewer’).

begin_frame(time)#

Begin a new frame and set the timeline for rerun.

Parameters:

time (float) – The current simulation time.

close()#

Close the viewer and clean up resources.

This will terminate any spawned viewer process and disconnect from rerun.

end_frame()#

End the current frame.

Note

Rerun handles frame finishing automatically.

is_running()#

Check if the viewer is still running.

Returns:

True if the viewer is running, False otherwise.

Return type:

bool

log_array(name, array)#

Placeholder for logging a generic array to rerun.

Parameters:

  • name (str) – Name of the array.

  • array – The array data.

log_instances(name, mesh, xforms, scales, colors, materials, hidden=False)#

Log instanced mesh data to rerun using InstancePoses3D.

Parameters:

  • name (str) – Entity path for the instances.

  • mesh (str) – Name of the mesh asset to instance.

  • xforms (wp.array) – Instance transforms (wp.transform).

  • scales (wp.array) – Instance scales (wp.vec3).

  • colors (wp.array) – Instance colors (wp.vec3).

  • materials (wp.array) – Instance materials (wp.vec4).

  • hidden (bool) – Whether the instances are hidden. (unused)

log_lines(name, starts, ends, colors, width=0.01, hidden=False)#

Placeholder for logging lines to rerun.

Parameters:

  • name (str) – Name of the line batch.

  • starts – Line start points.

  • ends – Line end points.

  • colors – Line colors.

  • hidden (bool) – Whether the lines are hidden.

log_mesh(name, points, indices, normals=None, uvs=None, hidden=False, backface_culling=True)#

Log a mesh to rerun for visualization.

Parameters:

  • name (str) – Entity path for the mesh.

  • points (wp.array) – Vertex positions (wp.vec3).

  • indices (wp.array) – Triangle indices (wp.uint32).

  • normals (wp.array, optional) – Vertex normals (wp.vec3).

  • uvs (wp.array, optional) – UV coordinates (wp.vec2).

  • hidden (bool) – Whether the mesh is hidden (unused).

  • backface_culling (bool) – Whether to enable backface culling (unused).

log_points(name, points, radii, colors, hidden=False)#

Placeholder for logging points to rerun.

Parameters:

  • name (str) – Name of the point batch.

  • points – Point positions.

  • radius – Point radii.

  • colors – Point colors.

  • hidden (bool) – Whether the points are hidden.

log_scalar(name, value)#

Placeholder for logging a scalar value to rerun.

Parameters:

  • name (str) – Name of the scalar.

  • value – The scalar value.