from typing import Optional
import genesis as gs
from .options import Options
[docs]
class ViewerOptions(Options):
"""
Options configuring preperties of the interactive viewer.
Note
----
The viewer's camera uses the `Rasterizer` backend regardless of `gs.renderers.*` when creating the scene.
Parameters
----------
res : tuple, shape (2,), optional
The resolution of the viewer. If not set, will auto-compute using resolution of the connected display.
run_in_thread : bool
Whether to run the viewer in a background thread. This option is not supported on MacOS. True by default if
available.
refresh_rate : int
The refresh rate of the viewer.
max_FPS : int | None
The FPS (frames per second) the viewer will be capped at. Note that this will also synchronize the simulation
speed. If not set, the viewer will render at maximum speed.
camera_pos : tuple of float, shape (3,)
The position of the viewer's camera.
camera_lookat : tuple of float, shape (3,)
The lookat position that the camera.
camera_up : tuple of float, shape (3,)
The up vector of the camera's extrinsic pose.
camera_fov : float
The field of view (in degrees) of the camera.
"""
res: Optional[tuple] = None
run_in_thread: Optional[bool] = None
refresh_rate: int = 60
max_FPS: Optional[int] = 60
camera_pos: tuple = (3.5, 0.5, 2.5)
camera_lookat: tuple = (0.0, 0.0, 0.5)
camera_up: tuple = (0.0, 0.0, 1.0)
camera_fov: float = 40
enable_interaction: bool = False
[docs]
class VisOptions(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 render all the rigid objects in batched environments in isolation or as part of the same scene.
This is only an option for Rasterizer. This behavior is enforced for BatchRender. 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.
rendered_envs_idx : list, optional
Mask to filter the environments for which rigid objects will be rendering. If not provided, all the environments
will be considered. Defaults to None.
n_rendered_envs : int, optional
This option is deprecated. Please use `rendered_envs_idx` instead.
lights : list of dict.
Lights added to the scene.
"""
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" # ['entity', 'link', 'geom']
render_particle_as: str = "sphere" # ['sphere', 'tet']
particle_size_scale: float = 1.0 # scale applied to actual particle size for rendering
contact_force_scale: float = (
0.01 # scale of force visualization, m/N. E.g. the force arrow representing 10N wille be 0.1m long if scale is 0.01.
)
n_support_neighbors: int = (
12 # number of neighbor particles used to compute vertex position of the visual mesh. Used for rendering deformable bodies.
)
n_rendered_envs: Optional[int] = None # number of environments being rendered
rendered_envs_idx: Optional[list] = None # idx of environments being rendered
lights: list = [
{"type": "directional", "dir": (-1, -1, -1), "color": (1.0, 1.0, 1.0), "intensity": 5.0},
]
def __init__(self, **data):
super().__init__(**data)
assert self.segmentation_level in ["entity", "link", "geom"]
if self.render_particle_as not in ["sphere", "tet"]:
gs.raise_exception(
f"Unsupported `render_particle_as`: {self.render_particle_as}, must be one of ['sphere', 'tet']"
)
if not self.n_rendered_envs is None:
gs.logger.warning(
"Viewer option 'n_rendered_envs' is deprecated and will be removed in future release. Please use "
"'rendered_envs_idx' instead."
)
assert self.rendered_envs_idx is None
self.rendered_envs_idx = list(range(self.n_rendered_envs))
