Debug Drawing Extension API

About

This Debug Drawing Extension API API is used to coordinate groups of lines and points on the screen. Use this API instead of Omniverse’s built-in debug drawing API to have greater control over how the geometry is drawn. The 3D geometry drawn by this remains persistent across frames and is only cleared when desired (unlike the built-in debug drawer).

API Documentation

See the API Documentation for complete usage information.

Tutorials & Examples

The following screenshots showcase how the different geometries are drawn:

Points

Drawing batches of points with different RGBA and radius values:

import random
from omni.isaac.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()

N = 10000
point_list_1 = [
    (random.uniform(-10, 10), random.uniform(-10, 10), random.uniform(-10, 10)) for _ in range(N)
]
point_list_2 = [
    (random.uniform(-10, 10), random.uniform(10, 30), random.uniform(-10, 10)) for _ in range(N)
]
point_list_3 = [
    (random.uniform(-10, 10), random.uniform(-30, -10), random.uniform(-10, 10)) for _ in range(N)
]
colors = [(random.uniform(0.5, 1), random.uniform(0.5, 1), random.uniform(0.5, 1), 1) for _ in range(N)]
sizes = [random.randint(1, 50) for _ in range(N)]
draw.draw_points(point_list_1, [(1, 0, 0, 1)] * N, [10] * N)
draw.draw_points(point_list_2, [(0, 1, 0, 1)] * N, [10] * N)
draw.draw_points(point_list_3, colors, sizes)

Lines

Drawing batches of lines with different RGBA and width values:

import random
from omni.isaac.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()

N = 10000
point_list_1 = [
    (random.uniform(10, 30), random.uniform(-10, 10), random.uniform(-10, 10)) for _ in range(N)
]
point_list_2 = [
    (random.uniform(10, 30), random.uniform(-10, 10), random.uniform(-10, 10)) for _ in range(N)
]
colors = [(random.uniform(0, 1), random.uniform(0, 1), random.uniform(0, 1), 1) for _ in range(N)]
sizes = [random.randint(1, 25) for _ in range(N)]
draw.draw_lines(point_list_1, point_list_2, colors, sizes)

Splines

Drawing splines as filled or dashed between a set of points:

import random
from omni.isaac.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()

point_list_1 = [
    (random.uniform(-30, -10), random.uniform(-10, 10), random.uniform(-10, 10)) for _ in range(10)
]
draw.draw_lines_spline(point_list_1, (1, 1, 1, 1), 10, False)
point_list_2 = [
    (random.uniform(-30, -10), random.uniform(-10, 10), random.uniform(-10, 10)) for _ in range(10)
]
draw.draw_lines_spline(point_list_2, (1, 1, 1, 1), 1, True)