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.. currentmodule:: warp.render
The ``warp.render`` module provides a set of renderers that can be used for visualizing scenes involving shapes of various types.
Built on top of these stand-alone renderers, the ``warp.sim.render`` module provides renderers that can be used to visualize scenes directly from ``warp.sim.ModelBuilder`` objects and update them from ``warp.sim.State`` objects.
..
.. toctree::
:maxdepth: 2
Stand-alone renderers
---------------------
The ``OpenGLRenderer`` provides an interactive renderer to play back animations in real time, the ``UsdRenderer`` provides a renderer that exports the scene to a USD file that can be rendered in a renderer of your choice.
.. autoclass:: UsdRenderer
:members:
.. autoclass:: OpenGLRenderer
:members:
Simulation renderers
--------------------
Based on these renderers from ``warp.render``, the ``SimRendererUsd`` (which equals ``SimRenderer``) and ``SimRendererOpenGL`` classes from ``warp.sim.render`` are derived to populate the renderers directly from ``warp.sim.ModelBuilder`` scenes and update them from ``warp.sim.State`` objects.
.. currentmodule:: warp.sim.render
.. autoclass:: SimRendererUsd
:members:
.. autoclass:: SimRendererOpenGL
:members:
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