Implementation:Isaac sim IsaacGymEnvs SimplePlotterTasks

Knowledge Sources	IsaacGymEnvs
Domains	Visualization, Primitive_Drawing
Last Updated	2026-02-15 11:00 GMT

Overview

SimplePlotterTasks provides the primitive drawing task types (lines, dots, and trails) in both 2D and 3D variants for the poselib visualization framework.

Description

This module defines three abstract base drawing task classes -- DrawXDLines, DrawXDDots, and DrawXDTrail -- which encapsulate the data and rendering properties for line segments, dot markers, and motion trails respectively. Each base class inherits from BasePlotterTask and stores numpy arrays of geometric data along with visual properties such as color, line width or marker size, alpha transparency, and whether the data should influence the plot axis limits.

DrawXDLines stores an array of line segments with shape (N, 2, dim) where each line is defined by two endpoints. DrawXDDots stores an array of points with shape (N, dim). DrawXDTrail extends DrawXDDots by reinterpreting the marker size as line width, providing a trail visualization that connects sequential positions. All three base classes require subclasses to implement the dim property.

Six concrete subclasses provide the 2D and 3D specializations: Draw2DLines, Draw3DLines, Draw2DDots, Draw3DDots, Draw2DTrail, and Draw3DTrail. Each simply overrides the dim property to return either 2 or 3, and the base class validation logic ensures that the data arrays match the expected dimensionality. These primitives serve as the building blocks for more complex visualization tasks such as skeleton rendering.

Usage

Use these classes to create primitive drawing tasks for visualizing geometric data in the poselib plotting system. The 3D variants (Draw3DLines, Draw3DDots, Draw3DTrail) are the most commonly used, particularly as sub-tasks within skeleton visualization tasks. They can also be used standalone for plotting arbitrary line segments, point clouds, or motion trails in 3D space.

Code Reference

Source Location

• Repository: IsaacGymEnvs
• File: isaacgymenvs/tasks/amp/poselib/poselib/visualization/simple_plotter_tasks.py
• Lines: 38-213

Signature

class DrawXDLines(BasePlotterTask):
    def __init__(self, task_name: str, lines: np.ndarray, color: str = "blue",
                 line_width: int = 2, alpha: float = 1.0, influence_lim: bool = True) -> None: ...
    def update(self, lines): ...

class DrawXDDots(BasePlotterTask):
    def __init__(self, task_name: str, dots: np.ndarray, color: str = "blue",
                 marker_size: int = 10, alpha: float = 1.0, influence_lim: bool = True) -> None: ...
    def update(self, dots): ...

class DrawXDTrail(DrawXDDots):
    @property
    def line_width(self): ...

class Draw2DLines(DrawXDLines): ...
class Draw3DLines(DrawXDLines): ...
class Draw2DDots(DrawXDDots): ...
class Draw3DDots(DrawXDDots): ...
class Draw2DTrail(DrawXDTrail): ...
class Draw3DTrail(DrawXDTrail): ...

Import

from isaacgymenvs.tasks.amp.poselib.poselib.visualization.simple_plotter_tasks import Draw3DLines, Draw3DDots, Draw3DTrail

I/O Contract

Inputs

Name	Type	Required	Description
task_name	str	Yes	Unique identifier for the drawing task
lines	np.ndarray	Yes (for DrawXDLines)	Array of line segments with shape (N, 2, dim) where dim is 2 or 3
dots	np.ndarray	Yes (for DrawXDDots/DrawXDTrail)	Array of points with shape (N, dim) where dim is 2 or 3
color	str	No	Color name for rendering (default: "blue")
line_width	int	No	Width of line segments in pixels (default: 2)
marker_size	int	No	Size of dot markers in pixels (default: 10)
alpha	float	No	Transparency value from 0.0 to 1.0 (default: 1.0)
influence_lim	bool	No	Whether data should affect axis limits (default: True)

Outputs

Name	Type	Description
raw_data	np.ndarray	The underlying lines or dots data array
color	str	The configured color string
line_width	int	The configured line width (lines and trails)
marker_size	int	The configured marker size (dots and trails)
alpha	float	The configured transparency value
influence_lim	bool	Whether this task influences plot limits
dim	int	The dimensionality (2 or 3) of the data

Usage Examples

import numpy as np
from isaacgymenvs.tasks.amp.poselib.poselib.visualization.simple_plotter_tasks import (
    Draw3DLines, Draw3DDots, Draw3DTrail
)

# Draw line segments connecting pairs of 3D points
lines_data = np.array([
    [[0.0, 0.0, 0.0], [1.0, 1.0, 1.0]],
    [[1.0, 1.0, 1.0], [2.0, 0.0, 0.5]],
])
lines_task = Draw3DLines("bone_lines", lines_data, color="blue", line_width=3)

# Draw dot markers at 3D positions
dots_data = np.array([
    [0.0, 0.0, 0.0],
    [1.0, 1.0, 1.0],
    [2.0, 0.0, 0.5],
])
dots_task = Draw3DDots("joint_dots", dots_data, color="red", marker_size=8)

# Draw a motion trail from sequential positions
trail_positions = np.array([
    [0.0, 0.0, 0.0],
    [0.1, 0.05, 0.0],
    [0.2, 0.1, 0.0],
])
trail_task = Draw3DTrail("com_trail", trail_positions, color="black", marker_size=2)

# Update data dynamically
new_lines = np.array([
    [[0.0, 0.0, 0.0], [1.5, 1.5, 1.5]],
    [[1.5, 1.5, 1.5], [3.0, 0.0, 1.0]],
])
lines_task.update(new_lines)