visualization obstacles

[jianchaoci]

Dear,
I am using this project combined with robotictoolbox to achieve collision avoidance. First I need to create a obstacles objects, could you give some suggestions or code about how to visualize these objects?

obstacle = sg.Cuboid((length, width, height), pose = SE3(5, 0, 0))
obstacle.plot()????

[petercorke]

Thanks for your interest in SpatialGeometry (SG), and apologies for the very late reply here.

SpatialGeometry itself has no renderer — it only describes geometry (shapes, poses, collision), it doesn't draw anything, so there's no .plot() method on a shape. To actually visualize an obstacle, use the companion package Swift:

import spatialgeometry as sg
from spatialmath import SE3
from swift import Swift

env = Swift()
env.launch(realtime=True)

obstacle = sg.Cuboid([length, width, height], pose=SE3(5, 0, 0))
env.add(obstacle)

env.step()  # call this in your control loop to refresh the view

If you later move the obstacle (e.g. obstacle.T = ...), just call env.step() again to update what's shown in the browser. See SG's Visualizing shapes docs section for more.