pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer Class Reference

Inheritance diagram for pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer:

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, load_model=False)
def	loadViewerModel (self, group_name, color=None)
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 Member Functions inherited from pinocchio.visualize.base_visualizer.BaseVisualizer
def	__init__ (self, model=pin.Model(), collision_model=None, visual_model=None, copy_models=False, data=None, collision_data=None, visual_data=None)
def	clean (self)
def	create_video_ctx (self, filename=None, fps=30, directory=None, **kwargs)
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	sleep (self, dt)

Public Attributes
	collision_group
	display_collisions
	display_visuals
	viewer
	visual_group
Public Attributes inherited from pinocchio.visualize.base_visualizer.BaseVisualizer
	collision_data
	collision_model
	data
	model
	visual_data
	visual_model

Detailed Description

A Pinocchio display using panda3d engine.

Definition at line 17 of file panda3d_visualizer.py.

Member Function Documentation

captureImage()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.captureImage	(		self,
			w = None,
			h = None
	)

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

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 143 of file panda3d_visualizer.py.

disableCameraControl()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.disableCameraControl

(

self

)

Disable camera manual control

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 146 of file panda3d_visualizer.py.

display()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.display	(		self,
			q = None
	)

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

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 98 of file panda3d_visualizer.py.

displayCollisions()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.displayCollisions	(		self,
			visibility
	)

Set whether to display collision objects or not.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 118 of file panda3d_visualizer.py.

displayVisuals()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.displayVisuals	(		self,
			visibility
	)

Set whether to display visual objects or not.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 123 of file panda3d_visualizer.py.

drawFrameVelocities()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.drawFrameVelocities	(		self,
		*	args,
		**	kwargs
	)

Draw current frame velocities.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 152 of file panda3d_visualizer.py.

enableCameraControl()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.enableCameraControl

(

self

)

Enable camera manual control

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 149 of file panda3d_visualizer.py.

getViewerNodeName()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.getViewerNodeName	(		self,
			geometry_object,
			geometry_type
	)

Return the name of the geometry object inside the viewer.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 91 of file panda3d_visualizer.py.

initViewer()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.initViewer	(		self,
			viewer = None,
			load_model = False
	)

Init the viewer by attaching to / creating a GUI viewer.

Definition at line 22 of file panda3d_visualizer.py.

loadViewerModel()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.loadViewerModel	(		self,
			group_name,
			color = None
	)

Create a group of nodes displaying the robot meshes in the viewer.

Definition at line 38 of file panda3d_visualizer.py.

setBackgroundColor()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.setBackgroundColor

(

self

)

Set the visualizer background color.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 128 of file panda3d_visualizer.py.

setCameraPose()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.setCameraPose	(		self,
		np.ndarray	pose
	)

Set camera 6D pose using a 4x4 matrix.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 140 of file panda3d_visualizer.py.

setCameraPosition()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.setCameraPosition	(		self,
		np.ndarray	position
	)

Set the camera's 3D position.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 134 of file panda3d_visualizer.py.

setCameraTarget()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.setCameraTarget	(		self,
			target
	)

Set the camera target.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 131 of file panda3d_visualizer.py.

setCameraZoom()

def pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.setCameraZoom	(		self,
		float	zoom
	)

Set camera zoom value.

Reimplemented from pinocchio.visualize.base_visualizer.BaseVisualizer.

Definition at line 137 of file panda3d_visualizer.py.

Member Data Documentation

collision_group

pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.collision_group

Definition at line 25 of file panda3d_visualizer.py.

display_collisions

pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.display_collisions

Definition at line 27 of file panda3d_visualizer.py.

display_visuals

pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.display_visuals

Definition at line 26 of file panda3d_visualizer.py.

viewer

pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.viewer

Definition at line 28 of file panda3d_visualizer.py.

visual_group

pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer.visual_group

Definition at line 24 of file panda3d_visualizer.py.

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

• panda3d_visualizer.py