Physics#
On a high-level, simulations with Omniverse™ Physics work as follows:
The USD Physics schema of robot and environment assets are parsed and corresponding objects are created in the PhysX SDK backend.
Then, for each discrete-time step of the simulation, Physics advances the PhysX SDK objects given their current state and additional inputs such as, for example, control-policy torques.
The updated state is written back to USD by default, where the state can be further processed by the user, a reinforcement-learning policy, or other extensions such as the Omniverse RTX Renderer.
Omniverse™ Physics propagates runtime changes to physics parameters in USD to the PhysX SDK objects.
Tools#
Additional Resources#
Omniverse™ Physics core documentation and programming guide
In Explore Physics demos you can learn about physics features and how to set them up from Python sample code.
USD Physics Schemas and PhysX SDK-engine-specific Physx Schemas
Explore further Omniverse simulation extensions.