isaaclab.visualizers

Visualizer configurations and implementations.

Additional Public Classes

The following classes are part of the public isaaclab.visualizers API.

BaseVisualizer	Base class for all visualizer backends.
VisualizerCfg	Base configuration for all visualizer backends.

class isaaclab.visualizers.BaseVisualizer

Bases: ABC

Base class for all visualizer backends.

Lifecycle: __init__() -> initialize() -> step() (repeated) -> close()

Methods:

__init__(cfg)	Initialize visualizer with config.
__new__(*args, **kwargs)

__init__(cfg: VisualizerCfg)

Initialize visualizer with config.

Parameters:

cfg – Visualizer configuration.

classmethod __new__(*args, **kwargs)

class isaaclab.visualizers.VisualizerCfg

Bases: object

Base configuration for all visualizer backends.

Note

This is an abstract base class and should not be instantiated directly. Use specific configs from isaaclab_visualizers: KitVisualizerCfg, NewtonGLVisualizerCfg, RerunVisualizerCfg, or ViserVisualizerCfg (from isaaclab_visualizers.kit/.newton/.rerun/.viser).

Methods:

__new__(*args, **kwargs)
__init__([class_type, eye, lookat, ...])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[BaseVisualizer] | str | None = <factory>, eye: tuple[float, float, float] = <factory>, lookat: tuple[float, float, float] = <factory>, focal_length: float = <factory>, streaming_view: bool = <factory>, streaming_sensor_prim_path: str | None = <factory>, streaming_cam_target_prim_path: str | None = <factory>, streaming_cam_eye: tuple[float, float, float] = <factory>, streaming_cam_renderer: str | None = <factory>, streaming_envs: int | list[int] = <factory>, streaming_gt_types: tuple[str, ...] = <factory>, streaming_depth_min: float = <factory>, streaming_depth_max: float = <factory>, max_visible_envs: int | None = <factory>, visible_env_indices: list[int] | None = <factory>, randomly_sample_visible_envs: bool = <factory>, enable_markers: bool = <factory>, enable_live_plots: bool = <factory>, live_plots_update_interval: int = <factory>, visualizer_type: str | None = <factory>, tiled_cam_view: bool | None = <factory>, tiled_cam_num: int | None = <factory>, tiled_cam_env_indices: list[int] | None = <factory>, tiled_cam_prim_path: str | None = <factory>, tiled_cam_eye: tuple[float, float, float] | None = <factory>, tiled_cam_target_prim_path: str | None = <factory>, tiled_cam_renderer: str | None = <factory>) → None