sim.loader.scene.load_sap_scene

sim.loader.scene.load_sap_scene(path: str | Path, *, device: Any = None, rigid_contact_max: int | None = None, requires_grad: bool = False, strict: bool = True, num_worlds: int | None = None, spacing: tuple[float, float, float] | None = None) → SapLoadedScene

Load a scene file into SAP collision and solver runtime objects ready for benchmark or direct stepping code.