roboplan.visualization
Functions
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Helper function to visualize octree geometries on Viser. |
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Helper function to visualize a sparse joint path in Cartesian space, using interpolation. |
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Helper function to visualize a joint trajectory in Cartesian space. |
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Helper function to visualize the start and goal trees from an RRT planner. |
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Plot a joint trajectory of positions over time. |
Module Contents
- roboplan.visualization.visualizeOcTree(viz, octree_geometry, prefix)
Helper function to visualize octree geometries on Viser.
- Args
viz: The viser visualizer instance. octree_geometry: the octree geometry object prefix: the prefix for geometry name
- Parameters:
viz (pinocchio.visualize.ViserVisualizer)
octree_geometry (pinocchio.GeometryObject)
prefix (str | None)
- roboplan.visualization.visualizePath(viz, scene, path, frame_names, max_step_size, color=(100, 0, 0), name='/path')
Helper function to visualize a sparse joint path in Cartesian space, using interpolation.
- Args
viz: The viser visualizer instance. scene: The scene instance. path: The joint path to visualize. frame_names: The list of frame names to use for forward kinematics. max_step_size: The maximum step size between joint configurations when interpolating paths. color: The color of the rendered path. name: The name of the path in the viser window.
- Parameters:
viz (pinocchio.visualize.ViserVisualizer)
scene (roboplan.core.Scene)
path (roboplan.core.JointPath | None)
frame_names (list)
max_step_size (float)
color (tuple)
name (str)
- Return type:
None
- roboplan.visualization.visualizeJointTrajectory(viz, scene, traj, frame_names, color=(100, 0, 0), name='/trajectory')
Helper function to visualize a joint trajectory in Cartesian space.
- Args
viz: The viser visualizer instance. scene: The scene instance. traj: The joint trajectory to visualize. frame_names: The list of frame names to use for forward kinematics. color: The color of the rendered trajectory. name: The name of the trajectory in the viser window.
- Parameters:
viz (pinocchio.visualize.ViserVisualizer)
scene (roboplan.core.Scene)
traj (roboplan.core.JointTrajectory | None)
frame_names (list)
color (tuple)
name (str)
- Return type:
None
- roboplan.visualization.visualizeTree(viz, scene, rrt, frame_names, max_step_size, start_tree_color=(0, 100, 100), start_tree_name='/rrt/start_tree', goal_tree_color=(100, 0, 100), goal_tree_name='/rrt/goal_tree')
Helper function to visualize the start and goal trees from an RRT planner.
- Args
viz: The viser visualizer instance. scene: The scene instance. rrt: The RRT planner instance. path: The joint path to visualize. If None, does not visualize the path. frame_names: List of frame names to use for forward kinematics. max_step_size: The maximum step size between joint configurations when interpolating paths. start_tree_color: The color of the rendered start tree. start_tree_name: The name of the start tree in the vizer window. goal_tree_color: The color of the rendered goal tree. goal_tree_name: The name of the goal tree in the vizer window.
- Parameters:
viz (pinocchio.visualize.ViserVisualizer)
scene (roboplan.core.Scene)
rrt (roboplan.rrt.RRT)
frame_names (list)
max_step_size (float)
start_tree_color (tuple)
start_tree_name (str)
goal_tree_color (tuple)
goal_tree_name (str)
- Return type:
None
- roboplan.visualization.plotJointTrajectory(trajectory, scene, plot_title='Joint Trajectory')
Plot a joint trajectory of positions over time.
- Args
trajectory: The trajectory object visualize. scene: The Scene object used to get joint information. plot_title: The title of the plot.
- Returns
The matplotlib figure object. Use plt.show() to display it.
- Parameters:
trajectory (roboplan.core.JointTrajectory)
scene (roboplan.core.Scene)
plot_title (str)
- Return type:
matplotlib.figure.Figure