visualization._visualization_ext

Classes

`RoboplanVisualizer`	Tool to build RViz MarkerArray messages from a RoboPlan scene and joint configuration.
`RoboplanIKMarker`	IK solver backend with interactive marker support for 6-DOF pose control.

Functions

markerFromJointTrajectory(scene, trajectory, frame_names)

Build a LINE_LIST Marker tracing the Cartesian path of the given frames along a joint trajectory via forward kinematics.

Module Contents

class visualization._visualization_ext.RoboplanVisualizer(scene, urdf_xml, frame_id='world', ns='/roboplan', group_name='', color=None)

Tool to build RViz MarkerArray messages from a RoboPlan scene and joint configuration.

Parameters:

scene (roboplan.core._core_ext.Scene)
urdf_xml (str)
frame_id (str)
ns (str)
group_name (str)
color (object | None)

markers_from_configuration(q)

Compute marker array for the given joint configuration, restricted to the currently selected joint group (see the constructor and set_group).

Parameters:: q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
Return type:: object

set_group(group_name)

Select the joint group whose links are rendered. Pass an empty string for the whole scene. Raises if the group name is not found in the scene.

Parameters:: group_name (str)
Return type:: None

clear_markers()

Return a MarkerArray that deletes all previously published markers.

Return type:: object

set_color(color)

Set a color override for all geometry markers.

Parameters:: color (object)
Return type:: None

clear_color()

Remove the color override, reverting to per-geometry colors.

Return type:: None

class visualization._visualization_ext.RoboplanIKMarker(scene, base_link, tip_link, ik_solve_fn)

IK solver backend with interactive marker support for 6-DOF pose control.

Parameters:

scene (roboplan.core._core_ext.Scene)
base_link (str)
tip_link (str)
ik_solve_fn (collections.abc.Callable)

construct_imarker()

Build an InteractiveMarker message for the current target pose.

Return type:: object

process_feedback(feedback)

Process InteractiveMarkerFeedback. Returns joint positions on success, or else None.

Parameters:: feedback (object)
Return type:: object

set_seed_configuration(q)

Set the seed joint positions for the next solve.

Parameters:: q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
Return type:: None

visualization._visualization_ext.markerFromJointTrajectory(scene, trajectory, frame_names, frame_id='world', ns='/roboplan_path', color=None, line_width=0.01)

Build a LINE_LIST Marker tracing the Cartesian path of the given frames along a joint trajectory via forward kinematics.

Parameters:

scene (roboplan.core._core_ext.Scene)
trajectory (roboplan.core._core_ext.JointTrajectory)
frame_names (collections.abc.Sequence[str])
frame_id (str)
ns (str)
color (object | None)
line_width (float)

Return type:

object