hpp-plot

Display of the constraint graph of manipulation problems defined with hpp-manipulation.

The graph is displayed by a web application served locally and connected to Python through a websocket. The context menu of states and transitions can generate configurations that are sent back to the Python script, for instance to display them in the viewer. A Qt window is also available when hpp-plot is built with USE_QT=ON.

Usage

With the viser viewer of hpp-gepetto-viewer, register the problem and the constraint graph, then click on “Show Graph Viewer” in the view controller:

v.setProblem(problem)
v.setGraph(graph)

The graph viewer can also be started from a Python script:

from pyhpp_plot import GraphViewerThread

def on_config(config, label):
    print(label, config)

GraphViewerThread(graph, problem, on_config).start()

The web application is then available at http://127.0.0.1:5177.

Installation

hpp-plot is installed with the other HPP packages, see the installation instructions. Building the web application requires npm (CMake option USE_JS, default ON).