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 = [{'color': (1.0, 1.0, 1.0), 'dir': (-1, -1, -1), 'intensity': 5.0, 'type': 'directional'}])

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 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.