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.

Module Contents

class visualization._visualization_ext.RoboplanVisualizer(scene, urdf_xml, frame_id='world', ns='/roboplan', 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)

  • color (object | None)

markers_from_configuration(q)

Compute marker array for the given joint configuration.

Parameters:

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

Return type:

object

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, joint_group, base_link, tip_link, options=...)

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

Parameters:

  • scene (roboplan.core._core_ext.Scene)

  • joint_group (str)

  • base_link (str)

  • tip_link (str)

  • options (roboplan.simple_ik._simple_ik_ext.SimpleIkOptions)

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