Implementation:Isaac sim IsaacGymEnvs Visualization Common

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

Overview

Visualization_Common provides convenience wrapper functions for visualizing skeleton states and motions using Matplotlib 3D plots, including both static and interactive playback modes.

Description

This module contains high-level visualization functions that bridge the poselib skeleton data structures with the Matplotlib-based 3D plotting system. The functions create Draw3DSkeletonState or Draw3DSkeletonMotion task objects and render them using the Matplotlib3DPlotter backend.

The plot_skeleton_state function renders a single static skeleton pose. plot_skeleton_states iterates through a one-dimensional sequence of skeleton states, updating the plot at each frame (with an optional skip_n parameter to skip frames). plot_skeleton_motion similarly iterates through a SkeletonMotion object, rendering each frame sequentially with optional frame skipping.

The interactive visualization system is built around plot_skeleton_motion_interactive_base, a generator function that creates a keyboard-controlled playback interface. It defines a PlotParams inner class to track playback state (current frame, playing/paused, looping, playback speed, and confirmation). Keyboard bindings provide controls: x toggles play/pause, z/c step backward/forward by one frame, a/d jump by 20 frames, w toggles looping, v/b double/halve playback speed, n quits, and h shows help. plot_skeleton_motion_interactive is a simple wrapper that exhausts the generator. plot_skeleton_motion_interactive_multiple synchronizes multiple interactive generators, allowing side-by-side comparison of different motions with synchronized playback.

Usage

Use these functions for debugging and analyzing skeleton poses and motions during development. The static functions (plot_skeleton_state, plot_skeleton_states, plot_skeleton_motion) are suitable for quick inspection, while the interactive functions provide detailed frame-by-frame examination of motion data with playback controls.

Code Reference

Source Location

• Repository: IsaacGymEnvs
• File: isaacgymenvs/tasks/amp/poselib/poselib/visualization/common.py
• Lines: 1-210

Signature

def plot_skeleton_state(skeleton_state, task_name=""):
    """Visualize a single skeleton state."""
    ...

def plot_skeleton_states(skeleton_state, skip_n=1, task_name=""):
    """Visualize a sequence of skeleton states along the first dimension."""
    ...

def plot_skeleton_motion(skeleton_motion, skip_n=1, task_name=""):
    """Visualize a skeleton motion along its first dimension."""
    ...

def plot_skeleton_motion_interactive_base(skeleton_motion, task_name=""):
    """Generator providing interactive keyboard-controlled motion playback."""
    ...

def plot_skeleton_motion_interactive(skeleton_motion, task_name=""):
    """Interactive visualization of a skeleton motion with keyboard controls."""
    ...

def plot_skeleton_motion_interactive_multiple(*callables, sync=True):
    """Synchronize multiple interactive motion visualizations."""
    ...

Import

from isaacgymenvs.tasks.amp.poselib.poselib.visualization.common import plot_skeleton_state, plot_skeleton_motion_interactive

I/O Contract

Inputs

Name	Type	Required	Description
skeleton_state	SkeletonState	Yes	A skeleton state object to visualize (for plot_skeleton_state and plot_skeleton_states)
skeleton_motion	SkeletonMotion	Yes	A skeleton motion object to visualize (for plot_skeleton_motion and interactive functions)
skip_n	int	No	Number of frames to skip between rendered frames (default: 1, meaning render every frame)
task_name	str	No	Optional label displayed in the visualization window title
sync	bool	No	Whether to synchronize playback across multiple motions in plot_skeleton_motion_interactive_multiple (default: True)

Outputs

Name	Type	Description
Matplotlib window	visual	A 3D Matplotlib plot window displaying the skeleton visualization
PlotParams (generator)	PlotParams	Yielded by plot_skeleton_motion_interactive_base; contains current frame index, playback state, and speed

Usage Examples

from isaacgymenvs.tasks.amp.poselib.poselib.visualization.common import (
    plot_skeleton_state,
    plot_skeleton_states,
    plot_skeleton_motion,
    plot_skeleton_motion_interactive,
    plot_skeleton_motion_interactive_base,
    plot_skeleton_motion_interactive_multiple,
)

# Visualize a single skeleton pose
plot_skeleton_state(skeleton_state, task_name="T-Pose")

# Visualize a sequence of states, rendering every 5th frame
plot_skeleton_states(skeleton_state_sequence, skip_n=5, task_name="Walk Cycle")

# Visualize a motion non-interactively
plot_skeleton_motion(skeleton_motion, skip_n=2, task_name="Running")

# Interactive visualization with keyboard controls
# Press 'x' to play/pause, 'z'/'c' to step frames, 'n' to quit
plot_skeleton_motion_interactive(skeleton_motion, task_name="Dance")

# Compare two motions side-by-side with synchronized playback
gen1 = plot_skeleton_motion_interactive_base(motion1, "Original")
gen2 = plot_skeleton_motion_interactive_base(motion2, "Retargeted")
plot_skeleton_motion_interactive_multiple(gen1, gen2, sync=True)