Plotters

Genesis 提供实时绘图 recorders，用于在执行期间可视化仿真数据。

可用的 Plotters

Plotter	Description
MPLLinePlot	Matplotlib 折线图（时间序列）
MPLImagePlot	Matplotlib 图像显示

MPLLinePlot

使用 Matplotlib 实时绘制折线图：

import genesis as gs

gs.init()
scene = gs.Scene()
robot = scene.add_entity(gs.morphs.URDF(file="robot.urdf"))
scene.build()

# Plot joint positions over time
scene.start_recording(
    data_func=lambda: robot.get_qpos()[:3],  # First 3 joints
    rec_options=gs.recorders.MPLLinePlot(
        title="Joint Positions",
    ),
)

for i in range(1000):
    scene.step()
scene.stop_recording()

配置

gs.recorders.MPLLinePlot(
    title="Plot Title",           # 绘图标题
    hz=30,                        # 更新率
)

MPLImagePlot

实时显示图像：

cam = scene.add_camera(res=(320, 240), pos=(3, 0, 2), lookat=(0, 0, 0.5))

scene.start_recording(
    data_func=lambda: cam.render(rgb=True),
    rec_options=gs.recorders.MPLImagePlot(
        title="Camera View",
    ),
)

for i in range(500):
    scene.step()
scene.stop_recording()

Multiple Recorders

您可以通过多次调用 start_recording 或直接使用 RecorderManager 来为不同的数据流启动多个 recorders。

性能提示

1. 降低更新率：对复杂绘图使用较低的 hz

2. 限制数据点：使用较小的 window_size

3. 使用异步模式：启用 async_mode=True 进行后台更新

API 参考

class genesis.recorders.plotters.BasePlotter(manager: RecorderManager, options: BasePlotterOptions, data_func: Callable[[], T])

Bases: Recorder

build()

Build the recorder, e.g. by initializing variables and creating widgets or file handles.

process(data, cur_time)

Process each incoming data sample.

Parameters:

• data (Any) – The data to be processed.

• cur_time (float) – The current time of the simulation.

cleanup()

Cleanup all resources, e.g. by closing widgets or files.

This method is called when recording is stopped by scene.stop_recording().

get_image_array()

Capture the plot image as a video frame.

Returns:

image_array – The RGB image as a numpy array.

Return type:

np.ndarray

class genesis.recorders.plotters.LinePlotHelper(options: LinePlotterMixinOptions, data: dict[str, collections.abc.Sequence] | Sequence)

Bases: object

Helper class that manages line plot data.

Use composition pattern.

clear_data()

process(data, cur_time)

Process new data point and update plot.

property history_length

property is_dict_data

property subplot_structure

class genesis.recorders.plotters.BasePyQtPlotter(manager: RecorderManager, options: BasePlotterOptions, data_func: Callable[[], T])

Bases: BasePlotter

Base class for PyQt based plotters.

build()

Build the recorder, e.g. by initializing variables and creating widgets or file handles.

cleanup()

Cleanup all resources, e.g. by closing widgets or files.

This method is called when recording is stopped by scene.stop_recording().

property run_in_thread: bool

Whether to run the recorder in a background thread.

Running in a background thread allows for processing data without blocking the main thread, so this is encouraged for most recorders (simply return True), but implementers should check that the recorder is thread-safe on all devices (threading on macOS tends to be less supported).

get_image_array()

Capture the plot image as a video frame.

Returns:

image_array – The image as a numpy array in (b,g,r,a) format.

Return type:

np.ndarray

class genesis.recorders.plotters.PyQtLinePlotter(manager: RecorderManager, options: BasePlotterOptions, data_func: Callable[[], T])

Bases: BasePyQtPlotter

build()

Build the recorder, e.g. by initializing variables and creating widgets or file handles.

process(data, cur_time)

Process each incoming data sample.

Parameters:

• data (Any) – The data to be processed.

• cur_time (float) – The current time of the simulation.

cleanup()

Cleanup all resources, e.g. by closing widgets or files.

This method is called when recording is stopped by scene.stop_recording().

class genesis.recorders.plotters.BaseMPLPlotter(manager: RecorderManager, options: BasePlotterOptions, data_func: Callable[[], T])

Bases: BasePlotter

Base class for matplotlib based plotters.

build()

Build the recorder, e.g. by initializing variables and creating widgets or file handles.

cleanup()

Clean up matplotlib resources.

get_image_array()

Capture the plot image as a video frame.

Returns:

image_array – The RGB image as a numpy array.

Return type:

np.ndarray

property run_in_thread: bool

Whether to run the recorder in a background thread.

Running in a background thread allows for processing data without blocking the main thread, so this is encouraged for most recorders (simply return True), but implementers should check that the recorder is thread-safe on all devices (threading on macOS tends to be less supported).

class genesis.recorders.plotters.MPLLinePlotter(manager: RecorderManager, options: BasePlotterOptions, data_func: Callable[[], T])

Bases: BaseMPLPlotter

build()

Build the recorder, e.g. by initializing variables and creating widgets or file handles.

process(data, cur_time)

Process each incoming data sample.

Parameters:

• data (Any) – The data to be processed.

• cur_time (float) – The current time of the simulation.

cleanup()

Clean up matplotlib resources.

class genesis.recorders.plotters.MPLImagePlotter(manager: RecorderManager, options: BasePlotterOptions, data_func: Callable[[], T])

Bases: BaseMPLPlotter

Live image viewer using matplotlib.

The image data should be an array-like object with shape (H, W), (H, W, 1), (H, W, 3), or (H, W, 4).

build()

Build the recorder, e.g. by initializing variables and creating widgets or file handles.

process(data, cur_time)

Process new image data and update display.

cleanup()

Clean up matplotlib resources.

另请参阅

• 记录与回放 - 录制概述

• File Writers - 文件导出