Examples

Custom rendering

• python/examples/custom_graphics_pipeline.py draws an interactive gradient triangle through a custom graphics pipeline and exposes its shader and pipeline definitions in the Resource panel.

Recommended first runs

Goal	Command from the repository root	Requirements	Expected result
First scene	python ./python/examples/render_prim_scene.py	CPU renderer	Ground, box, sphere
First simulation	python ./python/examples/sim_world_minimal.py	PhysX CPU	Falling ball with reset UI
Batched simulation	python ./python/examples/sim_world_multi_env.py --num-envs 16	PhysX CPU, Torch	Multiple ramp environments
Procedural terrain	python ./python/examples/view_procedural_terrain.py	PhysX CPU	Tiled terrain with falling collision bodies
MJCF control	python ./python/examples/mjcf_dof_control.py /path/to/robot.xml	MJCF asset	DOF sliders and robot
BVH motion	python ./python/examples/view_bvh_character.py /path/to/motion.bvh	BVH asset	Skeleton and sequencer
GPU contacts	python ./python/examples/sim_gpu_contact_sensor.py --viewer	Linux/NVIDIA	CUDA contact visualization

Asset viewers

• view_obj_scene.py: OBJ/MTL material subsets and textures.

• view_fbx_mesh.py: static FBX meshes and textures.

• view_fbx_character.py: skinned FBX character.

• view_motion_party.py: BVH, FBX, and SMPL/AMASS motions playing together through their standard visual APIs and sequencers.

• view_smpl_motion.py: SMPL surface motion with a sequencer.

• view_usd_scene.py: optional USD-enabled development build.

• usd_file_bridge.py: Python OpenUSD file exchange.

Debug and validation examples

Files under python/examples/smoke/ validate API and runtime behavior. They are maintainer checks, not the recommended way to learn the package.

Advanced native examples live under examples/; legacy examples are retained for regression and historical reference.