pinocchio.visualize.gepetto_visualizer.GepettoVisualizer Class Reference

Inheritance diagram for pinocchio.visualize.gepetto_visualizer.GepettoVisualizer:

Public Member Functions
def	captureImage (self, w=None, h=None)
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	initViewer (self, viewer=None, windowName="python-pinocchio", sceneName="world", loadModel=False)
def	loadPrimitive (self, meshName, geometry_object)
def	loadViewerGeometryObject (self, geometry_object, geometry_type)
def	loadViewerModel (self, rootNodeName="pinocchio")
def	setBackgroundColor (self)
def	setCameraPose (self, np.ndarray pose)
def	setCameraPosition (self, np.ndarray position)
def	setCameraTarget (self, target)
def	setCameraZoom (self, float zoom)

Public Attributes
	display_collisions
	display_visuals
	sceneName
	viewer
	viewerCollisionGroupName
	viewerRootNodeName
	viewerVisualGroupName
	windowID

Detailed Description

A Pinocchio display using Gepetto Viewer

Definition at line 20 of file gepetto_visualizer.py.

Member Function Documentation

captureImage()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.captureImage	(		self,
			w = None,
			h = None
	)

Definition at line 311 of file gepetto_visualizer.py.

disableCameraControl()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.disableCameraControl

(

self

)

Definition at line 314 of file gepetto_visualizer.py.

display()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.display	(		self,
			q = None
	)

Display the robot at configuration q in the viewer by placing all the bodies.

Definition at line 214 of file gepetto_visualizer.py.

displayCollisions()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.displayCollisions	(		self,
			visibility
	)

Set whether to display collision objects or not

Definition at line 264 of file gepetto_visualizer.py.

displayVisuals()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.displayVisuals	(		self,
			visibility
	)

Set whether to display visual objects or not

Definition at line 280 of file gepetto_visualizer.py.

drawFrameVelocities()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.drawFrameVelocities	(		self,
		*	args,
		**	kwargs
	)

Definition at line 320 of file gepetto_visualizer.py.

enableCameraControl()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.enableCameraControl

(

self

)

Definition at line 317 of file gepetto_visualizer.py.

getViewerNodeName()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.getViewerNodeName	(		self,
			geometry_object,
			geometry_type
	)

Return the name of the geometry object inside the viewer

Definition at line 23 of file gepetto_visualizer.py.

initViewer()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.initViewer	(		self,
			viewer = None,
			windowName = "python-pinocchio",
			sceneName = "world",
			loadModel = False
	)

Init GepettoViewer by loading the gui and creating a window.

Definition at line 30 of file gepetto_visualizer.py.

loadPrimitive()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.loadPrimitive	(		self,
			meshName,
			geometry_object
	)

Definition at line 79 of file gepetto_visualizer.py.

loadViewerGeometryObject()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.loadViewerGeometryObject	(		self,
			geometry_object,
			geometry_type
	)

Load a single geometry object

Definition at line 141 of file gepetto_visualizer.py.

loadViewerModel()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.loadViewerModel	(		self,
			rootNodeName = "pinocchio"
	)

Create the scene displaying the robot meshes in gepetto-viewer

Definition at line 179 of file gepetto_visualizer.py.

setBackgroundColor()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.setBackgroundColor

(

self

)

Definition at line 296 of file gepetto_visualizer.py.

setCameraPose()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.setCameraPose	(		self,
		np.ndarray	pose
	)

Definition at line 308 of file gepetto_visualizer.py.

setCameraPosition()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.setCameraPosition	(		self,
		np.ndarray	position
	)

Definition at line 302 of file gepetto_visualizer.py.

setCameraTarget()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.setCameraTarget	(		self,
			target
	)

Definition at line 299 of file gepetto_visualizer.py.

setCameraZoom()

def pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.setCameraZoom	(		self,
		float	zoom
	)

Definition at line 305 of file gepetto_visualizer.py.

Member Data Documentation

display_collisions

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.display_collisions

Definition at line 267 of file gepetto_visualizer.py.

display_visuals

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.display_visuals

Definition at line 283 of file gepetto_visualizer.py.

sceneName

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.sceneName

Definition at line 59 of file gepetto_visualizer.py.

viewer

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.viewer

Definition at line 45 of file gepetto_visualizer.py.

viewerCollisionGroupName

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.viewerCollisionGroupName

Definition at line 189 of file gepetto_visualizer.py.

viewerRootNodeName

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.viewerRootNodeName

Definition at line 184 of file gepetto_visualizer.py.

viewerVisualGroupName

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.viewerVisualGroupName

Definition at line 193 of file gepetto_visualizer.py.

windowID

pinocchio.visualize.gepetto_visualizer.GepettoVisualizer.windowID

Definition at line 51 of file gepetto_visualizer.py.

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

• gepetto_visualizer.py