Debug Drawing [omni.isaac.debug_draw]

Debug Drawing

This submodule provides bindings to draw debug lines and points

Point Example:

drawn points to the screen with random colors and sizes

import random
from omni.isaac.debug_draw import _debug_draw
draw = _debug_draw.acquire_debug_draw_interface()
N = 10000
point_list_1 = [
    (random.uniform(-1000, 1000), random.uniform(-1000, 1000), random.uniform(-1000, 1000)) for _ in range(N)
]
point_list_2 = [
    (random.uniform(-1000, 1000), random.uniform(1000, 3000), random.uniform(-1000, 1000)) for _ in range(N)
]
point_list_3 = [
    (random.uniform(-1000, 1000), random.uniform(-3000, -1000), random.uniform(-1000, 1000)) for _ in range(N)
]
colors = [(random.uniform(0.5, 1), random.uniform(0.5, 1), random.uniform(0.5, 1), 1) for _ in range(N)]
sizes = [random.randint(1, 50) for _ in range(N)]
draw.draw_points(point_list_1, [(1, 0, 0, 1)] * N, [10] * N)
draw.draw_points(point_list_2, [(0, 1, 0, 1)] * N, [10] * N)
draw.draw_points(point_list_3, colors, sizes)

Line Example:

drawn lines to the screen with random colors and widths

import random
from omni.isaac.debug_draw import _debug_draw
draw = _debug_draw.acquire_debug_draw_interface()
N = 10000
point_list_1 = [
    (random.uniform(1000, 3000), random.uniform(-1000, 1000), random.uniform(-1000, 1000)) for _ in range(N)
]
point_list_2 = [
    (random.uniform(1000, 3000), random.uniform(-1000, 1000), random.uniform(-1000, 1000)) for _ in range(N)
]
colors = [(random.uniform(0, 1), random.uniform(0, 1), random.uniform(0, 1), 1) for _ in range(N)]
sizes = [random.randint(1, 25) for _ in range(N)]
draw.draw_lines(point_list_1, point_list_2, colors, sizes)

Spline Example:

drawn splines to the screen with random colors and widths

from omni.isaac.debug_draw import _debug_draw
draw = _debug_draw.acquire_debug_draw_interface()
point_list_1 = [
    (random.uniform(-300, -100), random.uniform(-100, 100), random.uniform(-100, 100)) for _ in range(10)
]
draw.draw_lines_spline(point_list_1, (1, 1, 1, 1), 10, False)
point_list_2 = [
    (random.uniform(-300, -100), random.uniform(-100, 100), random.uniform(-100, 100)) for _ in range(10)
]
draw.draw_lines_spline(point_list_2, (1, 1, 1, 1), 5, True)

class DebugDraw

Bases: pybind11_builtins.pybind11_object

clear_lines(self: omni.isaac.debug_draw._debug_draw.DebugDraw) → None: Clear lines

clear_points(self: omni.isaac.debug_draw._debug_draw.DebugDraw) → None: Clear points

draw_lines(self: omni.isaac.debug_draw._debug_draw.DebugDraw, arg0: List[carb._carb.Float3], arg1: List[carb._carb.Float3], arg2: List[carb._carb.ColorRgba], arg3: List[float]) → None: Draw a set of lines to the screen

draw_lines_spline(self: omni.isaac.debug_draw._debug_draw.DebugDraw, arg0: List[carb._carb.Float3], arg1: carb._carb.ColorRgba, arg2: float, arg3: bool) → None: Draw spline between a list of points as line segments

draw_points(self: omni.isaac.debug_draw._debug_draw.DebugDraw, arg0: List[carb._carb.Float3], arg1: List[carb._carb.ColorRgba], arg2: List[float]) → None: Draw a set of points to the screen

get_num_lines(self: omni.isaac.debug_draw._debug_draw.DebugDraw) → int: Return the current number of lines being drawn

get_num_points(self: omni.isaac.debug_draw._debug_draw.DebugDraw) → int: Return the current number of points being drawn

acquire_debug_draw_interface(plugin_name: str = None, library_path: str = None) → omni.isaac.debug_draw._debug_draw.DebugDraw

release_debug_draw_interface(arg0: omni.isaac.debug_draw._debug_draw.DebugDraw) → None

Omnigraph Nodes

IsaacXPrimRadiusVisualizer

[‘displays the Radius of the xPrim for visualization.’]

Inputs

execIn (execution): The input execution port.
xPrim (target): Usd prim to visualize.
radius (float): Radius of the sphere. Default to 1.
thickness (float): Thickness of the radius lines. Default to 1.
segments (int): Number of segments in the circle. Default to 30.
drawXAxis (bool): True to draw the x axis circle. Default to True.
drawYAxis (bool): True to draw the y axis circle. Default to True.
drawZAxis (bool): True to draw the z axis circle. Default to True.
xAxisColor (colorf[4]): Color of the x axis sphere points. Default to [1, 0, 0, 1].
yAxisColor (colorf[4]): Color of the y axis sphere points. Default to [0, 1, 0, 1].
zAxisColor (colorf[4]): Color of the z axis sphere points. Default to [0, 0, 1, 1].

IsaacXPrimAxisVisualizer

[‘displays the x,y,z axis of an xPrim for visualization.’]

Inputs

execIn (execution): The input execution port.
xPrim (target): Usd prim to visualize.
length (float): Length of the axis lines. Default to 1.
thickness (float): Thickness of the axis lines. Default to 1.

DebugDrawPointCloud

[‘Take a point cloud as input and display it in the scene.’]

Inputs

exec (execution): The input execution port.
transform (matrixd[4]): The matrix to transform the points by.
dataPtr (uint64): Buffer of points containing point cloud data.
bufferSize (uint64): Size (in bytes) of the buffer (0 if the input is a texture).
color (colorf[4]): Color of points. Default to [0.75, 0.75, 1, 1].
size (float): Size of points. Default to 0.02.
doTransform (bool): Translate and Rotate point cloud by transform. Default to True.
testMode (bool): Act as Writer with no rendering.