Debug Drawing [omni.isaac.debug_draw]

Omnigraph Nodes

OmniGraph Nodes

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.

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].

DebugDrawRayCast

[‘Take arrays of ray start and end points as input and display it in the scene.’]

Inputs
  • exec (execution): The input execution port.

  • numRays (int): The number of rays to draw. Default to 0.

  • transform (matrixd[4]): The matrix to transform the rays by.

  • color (colorf[4]): Color of rays. Default to [0.75, 0.75, 1, 1].

  • beamWidth (float): Width of rays. Default to 0.02.

  • doTransform (bool): Translate and Rotate rays by transform. Default to True.

  • beamOrigins (pointf[3][]): Array containing origins of each ray. Default to [].

  • beamEndPoints (pointf[3][]): Array containing end points of each ray. Default to [].