damounayman/pinocchio-gepetto-viewer

pinocchio-gepetto-viewer

C++ client to gepetto-viewer for Pinocchio.

It depends on:

• pinocchio
• gepetto-viewer-corba

Compilation

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install_prefix ..
make install

Usage

C++ viewer

See tests/ur5.cc for an up-to-date example.

#include <pinocchio/gepetto/viewer.hpp>

pinocchio::gepetto::Viewer viewer (model,
 &visualModel, // or NULL
 &collisionModel // or NULL
);
viewer.initViewer("pinocchio"); // window name
viewer.loadViewerModel("ur5"); // scene name

viewer.display(pin::neutral(model));

gepetto-viewer plugin

You can launch the example with

gepetto-gui --load-plugin pinocchio-plugin.so --run-pyscript tests/pinocchio-plugin.py