Gaussian Renderer

A Gaussian Splatting Renderer and Tools package.

中文文档

This repository primarily provides rendering capabilities for Gaussian Splatting models. It was first developed as the Gaussian rendering component for DISCOVERSE, the first-generation simulation work.

Building on DISCOVERSE, GaussianRenderer is now extended for gs_playground, the second-generation work, where it provides the Gaussian rendering components related to Rigid-Link Gaussian Kinematics.

For detailed usage within the simulation environment, see: https://github.com/TATP-233/DISCOVERSE

Requirements

Python >= 3.10

Installation

uv add gaussian-renderer
# or: pip install gaussian-renderer

From source:

git clone https://github.com/TATP-233/GaussainRenderer.git
cd GaussainRenderer
uv pip install .
# or: pip install .

Optional extras

uv add "gaussian-renderer[viewer]"   # OpenGL viewer (glfw, PyOpenGL)
uv add "gaussian-renderer[mujoco]"   # MuJoCo integration
uv add "gaussian-renderer[motrix]"   # MotrixSim integration

# Combine as needed
uv add "gaussian-renderer[viewer,mujoco]"
# or: pip install ".[viewer,mujoco]"

Usage

Command-line tools

gs-viewer — OpenGL viewer for .ply models

gs-viewer path/to/model.ply

Controls: Left mouse = rotate, Right/Middle = pan, Scroll = zoom, Up/Down = SH degree, Drag & drop = load file

gs-compress — Compress 3DGS PLY to SuperSplat format

gs-compress input.ply
gs-compress input.ply -o output.ply
gs-compress models/          # batch

gs-transform — Apply translation/rotation/scale to a model

gs-transform input.ply -o output.ply -t 0 1 0 -s 2.0
gs-transform input.ply -r 0 0 0 1   # rotation quaternion xyzw
# --compress: save as compressed PLY

Python API

uv run python -m gaussian_renderer.simple_viewer path/to/model.ply
uv run python -m gaussian_renderer.supersplat_compress input.ply
uv run python -m gaussian_renderer.transform_gs_model input.ply

Development

uv pip install ".[dev]"
# or: pip install ".[dev]"
make lint       # ruff check
make format     # ruff format
make typecheck  # mypy
make test       # pytest
make ci         # all of the above

Citation

@article{jia2025discoverse,
      title={DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments},
      author={Yufei Jia and Guangyu Wang and Yuhang Dong and Junzhe Wu and Yupei Zeng and Haonan Lin and Zifan Wang and Haizhou Ge and Weibin Gu and Chuxuan Li and Ziming Wang and Yunjie Cheng and Wei Sui and Ruqi Huang and Guyue Zhou},
      journal={arXiv preprint arXiv:2507.21981},
      year={2025},
      url={https://arxiv.org/abs/2507.21981}
}

@article{jia2026gsplayground,
      title={GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning},
      author={Yufei Jia and Heng Zhang and Ziheng Zhang and Junzhe Wu and Mingrui Yu and Zifan Wang and Dixuan Jiang and Zheng Li and Chenyu Cao and Zhuoyuan Yu and Xun Yang and Haizhou Ge and Yuchi Zhang and Jiayuan Zhang and Zhenbiao Huang and Tianle Liu and Shenyu Chen and Jiacheng Wang and Bin Xie and Xuran Yao and Xiwa Deng and Guangyu Wang and Jinzhi Zhang and Lei Hao and Zhixing Chen and Yuxiang Chen and Anqi Wang and Hongyun Tian and Yiyi Yan and Zhanxiang Cao and Yizhou Jiang and Hanyang Shao and Yue Li and Lu Shi and Bokui Chen and Wei Sui and Hanqing Cui and Yusen Qin and Ruqi Huang and Lei Han and Tiancai Wang and Guyue Zhou},
      journal={arXiv preprint arXiv:2604.25459},
      year={2026},
      url={https://arxiv.org/abs/2604.25459}
}