roboplan.viser_visualizer
=========================

.. py:module:: roboplan.viser_visualizer

.. autoapi-nested-parse::

   TEMPORARY FILE: Can be removed when Pinocchio 3.9.0 is available on all platforms.



Attributes
----------

.. autoapisummary::

   roboplan.viser_visualizer.import_viser_succeed
   roboplan.viser_visualizer.MESH_TYPES


Classes
-------

.. autoapisummary::

   roboplan.viser_visualizer.ViserVisualizer


Module Contents
---------------

.. py:data:: import_viser_succeed
   :value: False


.. py:data:: MESH_TYPES

.. py:class:: ViserVisualizer(model=pin.Model(), collision_model=None, visual_model=None, copy_models=False, data=None, collision_data=None, visual_data=None)

   Bases: :py:obj:`pinocchio.visualize.BaseVisualizer`


   A Pinocchio visualizer using Viser.


   .. py:attribute:: static_objects
      :value: []



   .. py:method:: initViewer(viewer=None, open=False, loadModel=False, host='localhost', port='8000')

      Start a new Viser server and client.
      Note: the server can also be passed in through the `viewer` argument.
      :param viewer: An existing ViserServer instance, or None.
                     If None, creates a new ViserServer in this visualizer.
      :param open: If True, automatically opens a browser tab to the visualizer.
      :param loadModel: If True, loads the Pinocchio models passed in.
      :param host: If `viewer` is None, this will be the host URL.
      :param port: If `viewer` is None, this will be the host port.



   .. py:method:: loadViewerModel(rootNodeName='pinocchio', collision_color=None, visual_color=None, frame_axis_length=0.2, frame_axis_radius=0.01)

      Load the robot in a Viser viewer.
      :param rootNodeName: name to give to the robot in the viewer
      :param collision_color: optional, color to give to the collision model of
                              the robot. Format is a list of four RGBA floating-point numbers
                              (between 0 and 1)
      :param visual_color: optional, color to give to the visual model of
                           the robot. Format is a list of four RGBA floating-point numbers
                           (between 0 and 1)
      :param frame_axis_length: optional, length of frame axes if displaying frames.
      :param frame_axis_radius: optional, radius of frame axes if displaying frames.



   .. py:method:: loadViewerGeometryObject(geometry_object, prefix='', color=None)

      Loads a single geometry object.



   .. py:method:: display(q=None)

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



   .. py:method:: displayCollisions(visibility)


   .. py:method:: displayVisuals(visibility)


   .. py:method:: displayFrames(visibility)


   .. py:method:: drawFrameVelocities(*args, **kwargs)
      :abstractmethod:



   .. py:method:: updatePlacements(geometry_type)


   .. py:method:: updateFrames()


   .. py:method:: captureImage(w=None, h=None, client_id=None, transport_format='jpeg')

      Capture an image from the Viser viewer and return an RGB array.
      :param w: The width of the captured image.
      :param h: The height of the captured image.
      :param client_id: The ID of the Viser client handle.
                        If None, uses the first available client.
      :param transport_format: The transport format to use for the captured image.
                               Can be "jpeg" (default) or "png".



   .. py:method:: setBackgroundColor(preset_name = 'gray', col_top=None, col_bot=None)
      :abstractmethod:



   .. py:method:: setCameraTarget(target)
      :abstractmethod:



   .. py:method:: setCameraPosition(position)
      :abstractmethod:



   .. py:method:: setCameraZoom(zoom)
      :abstractmethod:



   .. py:method:: setCameraPose(pose = np.eye(4))
      :abstractmethod:



   .. py:method:: disableCameraControl()
      :abstractmethod:



   .. py:method:: enableCameraControl()
      :abstractmethod: