Visualization

OpenGL Viewer

Newton provides a simple OpenGL renderer for visualizing the simulation. The renderer requires pyglet (version >= 2.0) to be installed.

renderer = newton.viewer.RendererOpenGL(model=model, path="Newton Simulator", scaling=2.0)

# at every frame:
renderer.begin_frame(sim_time)
renderer.render(state)
renderer.end_frame()

# pause the simulation (blocks the control flow):
renderer.pause = True

Keyboard shortcuts when working with the OpenGLRenderer (aka newton.viewer.RendererOpenGL):

Keyboard Shortcuts

Key(s)	Description
W, A, S, D (or arrow keys) + mouse drag	Move the camera like in a FPS game
X	Toggle wireframe rendering
B	Toggle backface culling
C	Toggle the visibility of the coordinate system axes
G	Toggle ground grid
T	Toggle depth rendering
I	Toggle info text in the top left corner
SPACE	Pause/continue the simulation
TAB	Skip rendering to continue the simulation in the background (can speed up RL training while running the renderer)

Rendering to USD

Instead of rendering in real-time, you can also render the simulation as a time-sampled USD stage to be visualized in Omniverse.

renderer = newton.utils.SimRenderer(model=model, path="simulation.usd", scaling=2.0)

# at every frame:
renderer.begin_frame(sim_time)
renderer.render(state)
renderer.end_frame()

# to save the USD stage:
renderer.save()