pyrobosim.gui.world_canvas.WorldCanvas

class pyrobosim.gui.world_canvas.WorldCanvas(main_window, world, dpi=100, animation_dt=0.1, realtime_factor=1.0)

Canvas for rendering a pyrobosim world as a matplotlib figure in an application.

Methods

__init__(main_window, world[, dpi, ...])	Creates an instance of a pyrobosim figure canvas.
adjust_text(objs)	Adjust text in a figure.
draw_and_sleep()	Redraws the figure and waits a small amount of time.
get_animated_artists()	Returns a list of artists to animate when blitting.
monitor_nav_animation()	Monitors the navigation animation (to be started in a separate thread).
navigate(robot, goal[, path])	Animates a path to a goal location using a robot's path executor.
navigate_in_thread(robot, goal[, path])	Starts a thread to navigate a robot to a goal.
pick_object(robot, obj_name[, grasp_pose])	Picks an object with a specified robot.
place_object(robot[, pose])	Places an object at a specified robot's current location.
show()	Displays all entities in the world (robots, rooms, objects, etc.).
show_planner_and_path([robot, path])	Plot the path planner and latest path, if specified.
show_robots()	Draws robots as circles with heading lines for visualization.
show_world_state([robot, navigating])	Shows the world state in the figure title.
update_object_plot(obj)	Updates an object visualization based on its pose.
update_robots_plot()	Updates the robot visualization graphics objects.

Attributes

draw_lock	Lock for drawing on the canvas in a thread-safe manner.
nav_trigger	Signal to trigger navigation method in a thread-safe manner.
object_zorder	zorder for object visualization.
robot_dir_line_factor	Multiplier of robot radius for plotting robot orientation lines.
robot_zorder	zorder for robot visualization.