visualization

Functions

visualizeOcTree(viz, octree_geometry, prefix)

Helper function to visualize octree geometries on Viser.

visualizePath(viz, scene, path, frame_names, max_step_size)

Helper function to visualize a sparse joint path in Cartesian space, using interpolation.

visualizeJointTrajectory(viz, scene, traj, frame_names)

Helper function to visualize a joint trajectory in Cartesian space.

plotJointTrajectory(trajectory, scene[, plot_title])

Plot a joint trajectory of positions over time.

addPositionPolyline(viz, name, positions, color, ...)

Draw a Cartesian position trajectory as straight line segments.

visualizePositionTrace(viz, positions, trace_name, ...)

Visualize a Cartesian position trace and optional waypoint markers.

se3_to_viser_wxyz(transform)

Extract Viser-compatible position and wxyz quaternion from an SE(3) matrix.

Module Contents

visualization.visualizeOcTree(viz, octree_geometry, prefix)

Helper function to visualize octree geometries on Viser.

Parameters:

  • viz (pinocchio.visualize.ViserVisualizer) – The viser visualizer instance.

  • octree_geometry (pinocchio.GeometryObject) – the octree geometry object

  • prefix (str | None) – the prefix for geometry name

Return type:

None

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.

Parameters:

  • viz (pinocchio.visualize.ViserVisualizer) – The Viser visualizer instance.

  • scene (roboplan.core.Scene) – The scene instance.

  • path (roboplan.core.JointPath | None) – The joint path to visualize.

  • frame_names (list) – The list of frame names to use for forward kinematics.

  • max_step_size (float) – The maximum step size between joint configurations when interpolating paths.

  • color (tuple) – The color of the rendered path.

  • name (str) – The name of the path in Viser.

Return type:

None

visualization.visualizeJointTrajectory(viz, scene, traj, frame_names, color=(100, 0, 0), name='/trajectory')

Helper function to visualize a joint trajectory in Cartesian space.

Parameters:

  • viz (pinocchio.visualize.ViserVisualizer) – The Viser visualizer instance.

  • scene (roboplan.core.Scene) – The scene instance.

  • traj (roboplan.core.JointTrajectory | None) – The joint trajectory to visualize.

  • frame_names (list) – The list of frame names to use for forward kinematics.

  • color (tuple) – The color of the rendered trajectory.

  • name (str) – The name of the trajectory in Viser.

Return type:

None

visualization.plotJointTrajectory(trajectory, scene, plot_title='Joint Trajectory')

Plot a joint trajectory of positions over time.

Parameters:

  • trajectory (roboplan.core.JointTrajectory) – The trajectory object to visualize.

  • scene (roboplan.core.Scene) – The Scene object used to get joint information.

  • plot_title (str) – The title of the plot.

Returns:

The matplotlib figure object. Use matplotlib.pyplot.show() to display it.

Return type:

matplotlib.figure.Figure

visualization.addPositionPolyline(viz, name, positions, color, line_width)

Draw a Cartesian position trajectory as straight line segments.

Parameters:

  • viz (pinocchio.visualize.ViserVisualizer) – The Viser visualizer instance.

  • name (str) – The name of the trace in Viser.

  • positions (numpy.ndarray) – Array of xyz positions with shape (N, 3).

  • color (tuple[int, int, int]) – RGB color tuple.

  • line_width (float) – Width of the rendered line.

Return type:

None

visualization.visualizePositionTrace(viz, positions, trace_name, waypoint_root, trace_color, waypoint_color, line_width=5.0, waypoint_radius=0.01, draw_trace=True, draw_waypoints=True, waypoint_stride=1)

Visualize a Cartesian position trace and optional waypoint markers.

Parameters:

  • viz (pinocchio.visualize.ViserVisualizer) – The Viser visualizer instance.

  • positions (numpy.ndarray) – Array of xyz positions with shape (N, 3).

  • trace_name (str) – Name of the line trace in Viser.

  • waypoint_root (str) – Root name for waypoint markers in Viser.

  • trace_color (tuple[int, int, int]) – RGB color tuple for the trace.

  • waypoint_color (tuple[int, int, int]) – RGB color tuple for waypoint markers.

  • line_width (float) – Width of the rendered line.

  • waypoint_radius (float) – Radius of waypoint marker spheres.

  • draw_trace (bool) – Whether to draw the line trace.

  • draw_waypoints (bool) – Whether to draw waypoint markers.

  • waypoint_stride (int) – Draw one waypoint marker every this many positions.

Return type:

None

visualization.se3_to_viser_wxyz(transform)

Extract Viser-compatible position and wxyz quaternion from an SE(3) matrix.

Parameters:

transform (numpy.ndarray) – 4x4 homogeneous transform.

Returns:

Tuple of (position, wxyz) as numpy arrays.

Return type:

tuple[numpy.ndarray, numpy.ndarray]