Robotics applications can become quite complicated and it is necessary to inspect the inner workings of algorithms and components. Two of the most important visualization tools of Isaac are “Sight” and “Websight”. “Sight” is an API which can be used to create variable plots, or to visualize data in 2D or 3D renderings, as well as interact with the frontend (two way communication). “websight” is a web-based frontend which can be used to look at data which is provided via the sight API. Applications communicate with websight by running an instance of SightWebserver. Additional bridge/widgets exist such as the Config which allow to access the application configuration and change it live or the PoseTreeBridge that synchronize the backend PoseTree with the frontend one.
To get started run one of the sample apps, such as the Recorder App
or the navigation app, which has visualization setup; Then simply open a web browser
and navigate to
http://<ROBOT_IP>:3000. You will see a couple of windows showing
you visualization data about the application you are running.