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Robot visualization improvements - #72

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sea-bass merged 4 commits into
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viz-improvements
Sep 17, 2026
Merged

Robot visualization improvements#72
sea-bass merged 4 commits into
mainfrom
viz-improvements

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@sea-bass sea-bass commented Sep 15, 2026

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This PR fixes a few small issues with the robot visualization:

  1. RoboPlanVisualizer group now renders every geometry whose parent joint is in the Pinocchio subtree of any group joint, plus explicit SRDF links. This prevents stale joints not part of commanded groups from staying behind/
  2. TrajectoryPublisher: prepends a DELETEALL marker message to the first frame so a new preview replaces whatever was on the topic, and paces playback against the wall clock in case it's behind.

This inadvertently (through item 1. above) fixed some quirks I was seeing with other links not updating properly when moving a robot's interactive marker.

clr-interactive-ik-fix.webm

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sea-bass requested a review from eholum September 15, 2026 18:53
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sea-bass force-pushed the viz-improvements branch 2 times, most recently from 78aa11e to 3c606c5 Compare September 15, 2026 19:44
eholum
eholum approved these changes Sep 16, 2026
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It's beautiful!

Was checking things out with the mujoco sim and noted that 3x speed simulations pass through their previews. I think supporting that might be a slightly larger change... so happy to ship this as is and open an issue?

Comment thread roboplan_ros_py/roboplan_ros_py/trajectory_publisher.py Outdated
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sea-bass commented Sep 16, 2026

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3x speed simulations pass through their previews.

Sorry, could you expand on what this means? I also had some changes stashed in the clr_ws repo that did a marker deletion every time a new preview came in to help with this, so maybe I should push this up for you to use

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eholum commented Sep 16, 2026

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Sorry, could you expand on what this means?

Sorry i have SIP brain. Just that previews are played back in wall time and not using /clock. I think the changes are just in clr_ws, because I realize that node isn't using sim time... Ignore me?

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sea-bass commented Sep 16, 2026

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OK, but also I just pushed up the draft branch : NASA-JSC-Robotics/clr_ws#71

@scastro-nasa scastro-nasa mentioned this pull request Sep 16, 2026
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@sea-bass
sea-bass requested a review from eholum September 17, 2026 02:59
@sea-bass
sea-bass force-pushed the viz-improvements branch 2 times, most recently from cf6b05f to 3328ece Compare September 17, 2026 03:10
@sea-bass
sea-bass changed the base branch from main to fix-roboplan-rosdeps September 17, 2026 03:11
@sea-bass
sea-bass force-pushed the fix-roboplan-rosdeps branch from 291fd4a to d49f0b6 Compare September 17, 2026 03:46
Base automatically changed from fix-roboplan-rosdeps to main September 17, 2026 13:48
eholum
eholum approved these changes Sep 17, 2026
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🏎️

@sea-bass
sea-bass merged commit 2cf806b into main Sep 17, 2026
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@sea-bass
sea-bass deleted the viz-improvements branch September 17, 2026 14:33
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