pyroboplan.visualization package

Visualization module.

This module contains utilities for visualizing robot models and various aspects of motion planning.

Submodules

pyroboplan.visualization.meshcat_utils module

Utilities for visualization using MeshCat.

pyroboplan.visualization.meshcat_utils.visualize_frame(visualizer, name, tform, line_length=0.2, line_width=3, line_color=None)

Visualizes a coordinate frame as an axis triad at a specified pose.

Parameters:

  • visualizer (pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer) – The visualizer instance.

  • name (str) – The name of the MeshCat component to add.

  • tform (pinocchio.SE3) – The transform at which to display the frame.

  • line_length (float, optional) – The length of the axes in the triad.

  • line_width (float, optional) – The width of the axes in the triad.

  • line_color (array-like, optional) – The line colors to use. If None, chooses default axes colors.

pyroboplan.visualization.meshcat_utils.visualize_frames(visualizer, prefix_name, tforms, line_length=0.2, line_width=3, line_color=None)

Visualizes a set of coordinate frames as axis triads at specified poses.

Parameters:

  • visualizer (pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer) – The visualizer instance.

  • prefix_name (str) – The name of the MeshCat component to add.

  • tforms (list[pinocchio.SE3]) – A list of transforms at which to display frames.

  • line_length (float, optional) – The length of the axes in the triad.

  • line_width (float, optional) – The width of the axes in the triad.

  • line_color (array-like, optional) – The line colors to use. If None, chooses default axes colors.

pyroboplan.visualization.meshcat_utils.visualize_path(visualizer, name, tforms, line_width=3, line_color=[0.0, 0.0, 0.0])

Visualizes a path of poses as lines containing only the translation component.

Parameters:

  • visualizer (pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer) – The visualizer instance.

  • name (str) – The name of the MeshCat component to add.

  • tforms (list[pinocchio.SE3]) – A list of transforms representing the vertices of the path.

  • line_width (float, optional) – The width of the axes in the triad.

  • line_color (array-like, optional) – The line color to use.

pyroboplan.visualization.meshcat_utils.visualize_paths(visualizer, name, paths, line_width=3, line_color=[0.0, 0.0, 0.0])

Visualizes a list of paths of poses as lines containing only the translation component.

Parameters:

  • visualizer (pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer) – The visualizer instance.

  • name (str) – The name of the MeshCat component to add.

  • paths (list[list[pinocchio.SE3]]) – A list of paths, each of which is a list of transforms representing the vertices of the path.

  • line_width (float, optional) – The width of the axes in the triad.

  • line_color (array-like, optional) – The line color to use.