Self-contained Python library for USD-based physics simulation with DLPack tensor interoperability
Project description
ovphysx
ovphysx is a self-contained Python library for USD-based physics simulation with DLPack tensor interoperability. It wraps NVIDIA PhysX and provides:
- USD scene loading and rigid-body / articulation simulation
- Zero-copy tensor exchange with NumPy, PyTorch, and other DLPack frameworks
- Environment cloning for batched reinforcement-learning workloads
Quick start
pip install ovphysx
from ovphysx import PhysX
physx = PhysX()
physx.add_usd("scene.usda")
physx.step(1.0 / 60.0, 0.0)
physx.release()
For full documentation and tutorials, see ovphysx/docs/ inside the
installed package, or the ovphysx repository.
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