HPP-gepetto-viewer

Compare trajectories in Viser

Load paths with descriptive names, then plot the same robot frame along each:

from pyhpp_viser import Viewer

viewer = Viewer(robot)
viewer.loadPath(path, "Planned")
viewer.loadPath(optimized_path, "Optimized")
viewer.plotFrameTrajectories("robot/tool_frame")  # Use a frame from your model.

In the Trajectory tab, choose a frame and use Plot All Paths, or choose a source Path and use Plot Frame. Plot Selected uses the frame selected in the scene. Trajectories receive distinct colors from a cycling palette.

Each entry under Trajectories identifies its path and frame. Expand it to adjust its RGB color, line width, visibility, or scene label. Select in Player selects that entry’s source path and resets playback to its start; use Play in the Path Player tab to animate it. Hover over the color control or player button for an identity hint. Viser’s line API does not expose 3D hover events; Show Label identifies a trajectory directly in the scene.

For explicit colors or a subset of loaded paths:

viewer.plotFrameTrajectory("robot/tool_frame", path="Planned", color=(230, 90, 40))
viewer.plotFrameTrajectories("robot/tool_frame", paths=["Planned", "Optimized"])
viewer.clearTrajectories()

Colors accept RGB values in 0–255 or 0–1. Replotting a path/frame replaces its trajectory and preserves its color; an explicit name creates a separately named trace. Path objects passed directly to plotting are loaded automatically. Replacing a loaded path under the same name removes its old trajectories.