Visualizer#

The Visualizer class is the main orchestrator for all visualization and rendering in Genesis. It manages the viewer, cameras, and renderer backends.

Overview#

The Visualizer is automatically created when you create a Scene and is responsible for:

Managing the interactive Viewer window
Coordinating multiple Camera instances
Handling renderer backends (Rasterizer, Raytracer, BatchRenderer)
Synchronizing render state with simulation

Access#

The Visualizer is accessed through the scene:

import genesis as gs

gs.init()
scene = gs.Scene(show_viewer=True)
scene.build()

# Access the visualizer
visualizer = scene.visualizer

# Update the visualization
visualizer.update()

Common Operations#

Adding Cameras#

# Add a camera for rendering
cam = scene.add_camera(
    res=(1280, 720),
    pos=(3, 0, 2),
    lookat=(0, 0, 0.5),
    fov=40,
)

Updating the View#

# Update visualization each step
for i in range(1000):
    scene.step()
    scene.visualizer.update()

Controlling the Viewer#

# Access the interactive viewer
viewer = scene.visualizer.viewer

# Check if viewer is active
if scene.visualizer.viewer is not None:
    # Viewer operations available
    pass

API Reference#

class genesis.vis.Visualizer(scene, show_viewer, vis_options, viewer_options, renderer_options)[source]#

Bases: RBC

This abstraction layer manages viewer and renderers.

destroy()[source]#

add_camera(res, pos, lookat, up, model, fov, aperture, focus_dist, GUI, spp, denoise, near, far, env_idx, debug)[source]#

add_mesh_light(mesh, color, intensity, pos, quat, revert_dir, double_sided, cutoff)[source]#

add_light(pos, dir, color, intensity, directional, castshadow, cutoff, attenuation)[source]#

reset()[source]#

build()[source]#

update(force=True, auto=None)[source]#

update_visual_states(force_render: bool = False)[source]#: Update all visualization-only variables here.

colorize_seg_idxc_arr(seg_idxc_arr)[source]#

property is_built: bool#

property viewer#

property rasterizer#

property is_software#

property batch_renderer#

property context#

property raytracer#

property renderer#

property scene#

property has_display#

property cameras#

property segmentation_idx_dict#