pinocchio.visualize.base_visualizer.BaseVisualizer Class Reference

Inheritance diagram for pinocchio.visualize.base_visualizer.BaseVisualizer:

Public Member Functions
def	__init__ (self, model=pin.Model(), collision_model=None, visual_model=None, copy_models=False, data=None, collision_data=None, visual_data=None)
def	captureImage (self, w=None, h=None)
def	clean (self)
def	create_video_ctx (self, filename=None, fps=30, directory=None, kwargs)
def	disableCameraControl (self)
def	display (self, q=None)
def	displayCollisions (self, visibility)
def	displayVisuals (self, visibility)
def	drawFrameVelocities (self, args, kwargs)
def	enableCameraControl (self)
def	getViewerNodeName (self, geometry_object, geometry_type)
def	has_video_writer (self)
def	initViewer (self, args, kwargs)
def	loadViewerModel (self, args, kwargs)
def	play (self, q_trajectory, dt=None, callback=None, capture=False, kwargs)
def	rebuildData (self)
def	reload (self, new_geometry_object, geometry_type=None)
def	setBackgroundColor (self, args, kwargs)
def	setCameraPose (self, pose=np.eye(4))
def	setCameraPosition (self, position)
def	setCameraTarget (self, target)
def	setCameraZoom (self, zoom)
def	sleep (self, dt)

Public Attributes
	collision_data
	collision_model
	data
	model
	visual_data
	visual_model

Static Private Attributes
	_video_writer = None

Detailed Description

Pinocchio visualizers are employed to easily display a model at a given configuration.
BaseVisualizer is not meant to be directly employed, but only to provide a uniform interface and a few common methods.
New visualizers should extend this class and override its methods as neeeded.

Definition at line 16 of file base_visualizer.py.

Constructor & Destructor Documentation

__init__()

def pinocchio.visualize.base_visualizer.BaseVisualizer.__init__	(		self,
			model = pin.Model(),
			collision_model = None,
			visual_model = None,
			copy_models = False,
			data = None,
			collision_data = None,
			visual_data = None
	)

Construct a display from the given model, collision model, and visual model.
If copy_models is True, the models are copied. Otherwise, they are simply kept as a reference.

Definition at line 33 of file base_visualizer.py.

Member Function Documentation

captureImage()

def pinocchio.visualize.base_visualizer.BaseVisualizer.captureImage	(		self,
			w = None,
			h = None
	)

Captures an image from the viewer and returns an RGB array.

Definition at line 121 of file base_visualizer.py.

clean()

def pinocchio.visualize.base_visualizer.BaseVisualizer.clean

(

self

)

Delete all the objects from the whole scene

Definition at line 84 of file base_visualizer.py.

create_video_ctx()

def pinocchio.visualize.base_visualizer.BaseVisualizer.create_video_ctx	(		self,
			filename = None,
			fps = 30,
			directory = None,
			kwargs
	)

Create a video recording context, generating the output filename if necessary.

Code inspired from https://github.com/petrikvladimir/RoboMeshCat.

Definition at line 166 of file base_visualizer.py.

disableCameraControl()

def pinocchio.visualize.base_visualizer.BaseVisualizer.disableCameraControl

(

self

)

Definition at line 125 of file base_visualizer.py.

display()

def pinocchio.visualize.base_visualizer.BaseVisualizer.display	(		self,
			q = None
	)

Display the robot at configuration q or refresh the rendering
from the current placements contained in data by placing all the bodies in the viewer.

Definition at line 88 of file base_visualizer.py.

displayCollisions()

def pinocchio.visualize.base_visualizer.BaseVisualizer.displayCollisions	(		self,
			visibility
	)

Set whether to display collision objects or not.

Definition at line 93 of file base_visualizer.py.

displayVisuals()

def pinocchio.visualize.base_visualizer.BaseVisualizer.displayVisuals	(		self,
			visibility
	)

Set whether to display visual objects or not.

Definition at line 97 of file base_visualizer.py.

drawFrameVelocities()

def pinocchio.visualize.base_visualizer.BaseVisualizer.drawFrameVelocities	(		self,
			args,
			kwargs
	)

Draw current frame velocities.

Definition at line 131 of file base_visualizer.py.

enableCameraControl()

def pinocchio.visualize.base_visualizer.BaseVisualizer.enableCameraControl

(

self

)

Definition at line 128 of file base_visualizer.py.

getViewerNodeName()

def pinocchio.visualize.base_visualizer.BaseVisualizer.getViewerNodeName	(		self,
			geometry_object,
			geometry_type
	)

Return the name of the geometry object inside the viewer.

Definition at line 68 of file base_visualizer.py.

has_video_writer()

def pinocchio.visualize.base_visualizer.BaseVisualizer.has_video_writer

(

self

)

Definition at line 138 of file base_visualizer.py.

initViewer()

def pinocchio.visualize.base_visualizer.BaseVisualizer.initViewer	(		self,
			args,
			kwargs
	)

Init the viewer by loading the gui and creating a window.

Definition at line 72 of file base_visualizer.py.

loadViewerModel()

def pinocchio.visualize.base_visualizer.BaseVisualizer.loadViewerModel	(		self,
			args,
			kwargs
	)

Create the scene displaying the robot meshes in the viewer

Definition at line 76 of file base_visualizer.py.

play()

def pinocchio.visualize.base_visualizer.BaseVisualizer.play	(		self,
			q_trajectory,
			dt = None,
			callback = None,
			capture = False,
			kwargs
	)

Play a trajectory with given time step. Optionally capture RGB images and returns them.

Definition at line 141 of file base_visualizer.py.

rebuildData()

def pinocchio.visualize.base_visualizer.BaseVisualizer.rebuildData

(

self

)

Re-build the data objects. Needed if the models were modified.
Warning: this will delete any information stored in all data objects.

Definition at line 61 of file base_visualizer.py.

reload()

def pinocchio.visualize.base_visualizer.BaseVisualizer.reload	(		self,
			new_geometry_object,
			geometry_type = None
	)

Reload a geometry_object given by its type

Definition at line 80 of file base_visualizer.py.

setBackgroundColor()

def pinocchio.visualize.base_visualizer.BaseVisualizer.setBackgroundColor	(		self,
			args,
			kwargs
	)

Set the visualizer background color.

Definition at line 101 of file base_visualizer.py.

setCameraPose()

def pinocchio.visualize.base_visualizer.BaseVisualizer.setCameraPose	(		self,
			pose = np.eye(4)
	)

Set camera 6D pose using a 4x4 matrix.

Definition at line 117 of file base_visualizer.py.

setCameraPosition()

def pinocchio.visualize.base_visualizer.BaseVisualizer.setCameraPosition	(		self,
			position
	)

Set the camera's 3D position.

Definition at line 109 of file base_visualizer.py.

setCameraTarget()

def pinocchio.visualize.base_visualizer.BaseVisualizer.setCameraTarget	(		self,
			target
	)

Set the camera target.

Definition at line 105 of file base_visualizer.py.

setCameraZoom()

def pinocchio.visualize.base_visualizer.BaseVisualizer.setCameraZoom	(		self,
			zoom
	)

Set camera zoom value.

Definition at line 113 of file base_visualizer.py.

sleep()

def pinocchio.visualize.base_visualizer.BaseVisualizer.sleep	(		self,
			dt
	)

Definition at line 135 of file base_visualizer.py.

Member Data Documentation

_video_writer

pinocchio.visualize.base_visualizer.BaseVisualizer._video_writer = None

staticprivate

Definition at line 22 of file base_visualizer.py.

collision_data

pinocchio.visualize.base_visualizer.BaseVisualizer.collision_data

Definition at line 52 of file base_visualizer.py.

collision_model

pinocchio.visualize.base_visualizer.BaseVisualizer.collision_model

Definition at line 39 of file base_visualizer.py.

data

pinocchio.visualize.base_visualizer.BaseVisualizer.data

Definition at line 47 of file base_visualizer.py.

model

pinocchio.visualize.base_visualizer.BaseVisualizer.model

Definition at line 38 of file base_visualizer.py.

visual_data

pinocchio.visualize.base_visualizer.BaseVisualizer.visual_data

Definition at line 57 of file base_visualizer.py.

visual_model

pinocchio.visualize.base_visualizer.BaseVisualizer.visual_model

Definition at line 40 of file base_visualizer.py.

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The documentation for this class was generated from the following file:

• base_visualizer.py