Simulation Data Visualizer#
The Simulation Data Visualizer Extension is used to visualize information for the selected prim. Use this extension 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#
This extension visualizes 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
For velocities, there’s a fourth plot M, which is the magnitude of the vector.
Articulations and Physics Scenes have residual error reporting. The available residual information is Position and Velocity RMS and Max in Stage units.
Inspect Physics Example#
To run this utility:
Open the Simulation Data Visualizer by going to the Visibility Menu (eye icon on viewport) > Show by Type > Physics > Simulation Data Visualizer.
Load some simulation-ready example, such as the Cortex Franka example, by clicking Isaac Examples > Cortex > Franka Cortex Examples.
Press the Load Robot button.
Select the /World/Franka/panda_hand prim from the Stage.
Press the START button to begin simulating.
After simulation starts, the physics state of the selected rigid body updates in the Inspect Physics window.
Inspect Residual Error
With the previous example open, select the physics scene in the Stage window.
On the Properties panel, click on the Add > Physics > Residual Reporting.
Scroll down on the Properties panel, and under the Advanced tab, check Enable Residual Reporting.
Click on Reset.
Click on Start.
The types of Physics Objects that report residuals are:
Simulation Scene
Articulations (Place at the Root)
Joints
