Simulation Data Visualizer

The Simulation Data Visualizer is used to visualize information for the selected prim. You can use this tool to better understand the behaviors of physics-enabled geometry during simulation.

If a non-physics prim is selected, position changes over the course of simulation are tracked. However, when a physics element is selected, it shows more physics properties, including position and velocities (linear, angular).

Conventions

The simulation data visualizer provides the following information:

• Position: in Stage units [X, Y, Z]

• Rotation: in degrees [X, Y, Z]

• Linear Velocity: in Stage units/s

• Angular Velocity: in degrees/s

• Linear Acceleration: in Stage units/s^2

• Mass: in Stage mass unit

• Moment of Inertia: in Stage mass unit*Stage units^2

For velocities, there’s a fourth plot M, which is the magnitude of the vector.

Inspect Physics Example

To run this utility:

1. Open the Simulation Data Visualizer by going to the Visibility Menu (eye icon on viewport) > Show by Type > Physics > Simulation Data Visualizer.

2. Activate Windows > Examples > Robotics Examples which will open the Robotics Examples tab.

3. Load some simulation-ready example, such as the Cortex Franka example, by clicking Robotics Examples > Cortex > Franka Cortex Examples.

4. Press the Load Robot button.

5. Select the /World/Franka/panda_hand prim from the Stage.

6. Press the START button to begin simulating.

After simulation starts, the physics state of the selected rigid body updates in the Inspect Physics window.