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.