pyrobosim.gui.world_canvas.WorldCanvas

class pyrobosim.gui.world_canvas.WorldCanvas(main_window: PyRoboSimMainWindow, world: World, show: bool = True, options: WorldCanvasOptions = WorldCanvasOptions(dpi=100, animation_dt=0.1, show_collision_polygons=False, show_room_names=True, show_object_names=True, show_location_names=True, show_robot_names=True))

Canvas for rendering a PyRoboSim world as a MatPlotLib figure in an application.

Methods

__init__(main_window, world[, show, options])	Creates an instance of a PyRoboSim figure canvas.
close_location(robot)	Closes the robot's current location, if available.
detect_objects(robot[, query])	Detects objects at the robot's current location.
draw_and_sleep()	Redraws the figure and waits a small amount of time.
nav_animation_callback()	Timer callback function to animate navigating robots.
navigate(robot, goal[, path, realtime_factor])	Starts a thread to navigate a robot to a goal.
open_location(robot)	Opens the robot's current location, if available.
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.
queue_draw()	Queues up drawing when needed.
show()	Displays all entities in the world (robots, rooms, objects, etc.).
show_hallways()	Draws hallways in the world.
show_locations()	Draws locations and object spawns in the world.
show_objects()	Draws objects and their associated texts.
show_planner_and_path([robot, show_graphs, path])	Plot the path planner and latest path, if specified.
show_robots()	Draws robots, along with any associated sensors.
show_rooms()	Draws rooms in the world.
show_world_state([robot])	Shows the world state in the figure title.
toggle_collision_polygons()	Shows/hides collision polygons.
toggle_location_names()	Shows/hides location names.
toggle_object_names()	Shows/hides object names.
toggle_robot_names()	Shows/hides robot names.
toggle_room_names()	Shows/hides room names.
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.
draw_signal	Signal for drawing without threading errors.
navigate_signal	Signal for starting a navigation task without threading errors.
robot_dir_line_factor	Multiplier of robot radius for plotting robot orientation lines.
robot_zorder	zorder for robot visualization.
show_hallways_signal	Signal for showing hallways without threading errors.
show_locations_signal	Signal for showing locations without threading errors.
show_objects_signal	Signal for showing objects without threading errors.
show_planner_and_path_signal	Signal for showing planners and paths without threading errors.
show_robots_signal	Signal for showing robots without threading errors.
staticMetaObject