Visualize Tensors in Gym Viewer

Hi all,

Is there a possibility to visualize a 3D-Tensor as 3D-Vector (i.e. arrow) in the Isaac Gym viewer?

Say one initializes a 3D-Tensor of e.g. forces like
self.myForceTensor= torch.ones(self.num_envs, 3, dtype=torch.float, device=self.device),
what would be the recommended workflow to visualize the tensor as 3D-vector in the viewer?

Thanks in advance!

Hi @julian.esser

There is a line-drawing API available - add_lines, along with clear_lines. You can read about these in the programming/graphics documentation.

There is also a gymutil wrapper function draw_lines, which is used in several examples.

Take care,

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