---

name: sensors-visualization description: "Use Newton sensors, viewer backends, example CLI, recording, headless visualization, and debugging routes." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

Newton sensors and visualization

Use this sub-skill when a task involves Newton sensors, viewer backends, example CLI/browser usage, headless runs, recording/replay, screenshot/frame capture, visualization troubleshooting, or benchmark/example flags.

Route here for

• newton.sensors.SensorContact, SensorFrameTransform, SensorIMU, and SensorTiledCamera.
• Sensor label matching and extended state/contact attributes.
• newton.viewer.ViewerNull, ViewerFile, ViewerUSD, ViewerGL, ViewerRTX, ViewerRerun, and ViewerViser.
• python -m newton.examples, --list, --viewer, --device, --test, --num-frames, --benchmark, and --warp-config.
• Choosing a headless viewer or persistent artifact output.
• Viewer/logging order, visible worlds, custom overlays, and diagnostic capture.

Route elsewhere

• Model and state construction details: ../modeling-simulation/SKILL.md.
• Solver/contact feature selection before visualization: ../solvers-contacts/SKILL.md.
• URDF/MJCF/USD import and mesh assets: ../asset-import-export/SKILL.md.
• Robot controllers, IK, target arrays, and actuator/policy dependencies: ../robotics-control/SKILL.md.

Read order

1. references/sensors-viewers-examples.md for sensor/viewer APIs, example CLI, and headless/persistent output patterns.
2. references/troubleshooting.md for missing viewer extras, sensor allocation order, OpenGL/Wayland, Rerun/Viser ports, and CLI errors.
3. scripts/check_viewer_sensor_apis.py to inspect public signatures and run a safe ViewerNull/example-list diagnostic.

Default choices

• Use ViewerNull for tests, CI, smoke checks, and headless simulations with no visual output.
• Use ViewerUSD or ViewerFile when the user needs a persistent artifact.
• Use ViewerGL only when an OpenGL context is expected; prefer headless=True for frame capture.
• Use ViewerRerun or ViewerViser when a web/timeline workflow is explicitly needed and the optional dependencies/ports are available.
• Use ViewerRTX only when RTX/OVRTX dependencies and a suitable NVIDIA GPU are part of the task.

Safe diagnostic

From this sub-skill directory:

python scripts/check_viewer_sensor_apis.py --limit 20

The script imports public sensor/viewer modules, instantiates ViewerNull, and lists installed examples. It does not open a GL window, start servers, download assets, or run a full simulation.