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.
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.
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).