gs.options.VisOptions

class genesis.options.VisOptions(*, show_world_frame: bool = False, world_frame_size: float = 1.0, show_link_frame: bool = False, link_frame_size: float = 0.2, show_cameras: bool = False, shadow: bool = True, plane_reflection: bool = False, env_separate_rigid: bool = False, background_color: tuple = (0.04, 0.08, 0.12), ambient_light: tuple = (0.1, 0.1, 0.1), visualize_mpm_boundary: bool = False, visualize_sph_boundary: bool = False, visualize_pbd_boundary: bool = False, segmentation_level: str = 'link', render_particle_as: str = 'sphere', particle_size_scale: float = 1.0, contact_force_scale: float = 0.01, n_support_neighbors: int = 12, n_rendered_envs: int | None = None, rendered_envs_idx: list | None = None, lights: list = [{'type': 'directional', 'dir': (-1, -1, -1), 'color': (1.0, 1.0, 1.0), 'intensity': 5.0}])

Bases: Options

This configures visualization-related properties that are independent of the viewer or camera.

Parameters:

• show_world_frame (bool) – Whether to visualize the world frame. Default to False.

• world_frame_size (float) – The length (in meters) of the world frame’s axes.

• show_link_frame (bool) – Whether to visualize the frames of each RigidLink. Default to False.

• link_frame_size (float) – The length (in meters) of the link frames’ axes.

• show_cameras (bool) – Whether to render the cameras added to the scene, together with their frustums. Default to False.

• shadow (bool) – Whether to render shadow. Defaults to True.

• plane_reflection (bool) – Whether to render plane reflection. Defaults to False.

• env_separate_rigid (bool) – Whether to share rigid objects across environments. Disabled when shown by the viewer. Defaults to False.

• background_color (tuple of float, shape (3,)) – The color of the scene background.

• ambient_light (tuple of float, shape (3,)) – The color of the scene’s ambient light.

• visualize_mpm_boundary (bool) – Whether to visualize the boundary of the MPM Solver.

• visualize_sph_boundary (bool) – Whether to visualize the boundary of the SPH Solver.

• visualize_pbd_boundary (bool) – Whether to visualize the boundary of the PBD Solver.

• segmentation_level (str) – The segmentation level used for segmentation mask rendering. Should be one of [‘entity’, ‘link’, ‘geom’]. Defaults to ‘link’.

• render_particle_as (str) – How particles in the scene should be rendered. Should be one of [‘sphere’, ‘tet’]. Defaults to ‘sphere’.

• particle_size_scale (float) – Scale applied to actual particle size for rendering. Defaults to 1.0.

• contact_force_scale (float = 0.02) – Scale for contact arrow visualization, m/N. E.g. the force arrow representing 10N will be 0.2m long if scale is 0.02. Defaults to 0.02.

• n_support_neighbors (int) – Number of supporting neighbor particles used to compute vertex position of the visual mesh. Used for rendering deformable bodies. Defaults to 12.

• n_rendered_envs (int, optional) – Number of environments with being rendered (from env 0 up to n). This cannot be used with rendered_envs_idx. Defaults to None.

• rendered_envs_idx (list, optional) – index of environments being rendered. If None, all environments will be rendered. Defaults to None.

• lights (list of dict.) – Lights added to the scene.