Debug Drawing [omni.isaac.debug_draw]

Omnigraph Nodes

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

Inputs

[‘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.

[‘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].

[‘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 [].