roboplan.viser_visualizer

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

Attributes

import_viser_succeed
MESH_TYPES

Classes

ViserVisualizer

A Pinocchio visualizer using Viser.

Module Contents

roboplan.viser_visualizer.import_viser_succeed = False

roboplan.viser_visualizer.MESH_TYPES

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

Bases: pinocchio.visualize.BaseVisualizer

A Pinocchio visualizer using Viser.

static_objects = []

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.

Parameters:

• open – If True, automatically opens a browser tab to the visualizer.

• loadModel – If True, loads the Pinocchio models passed in.

• host – If viewer is None, this will be the host URL.

• port – If viewer is None, this will be the host port.

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)

Parameters:

• 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)

• frame_axis_length – optional, length of frame axes if displaying frames.

• frame_axis_radius – optional, radius of frame axes if displaying frames.

loadViewerGeometryObject(geometry_object, prefix='', color=None)

Loads a single geometry object.

display(q=None)

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

displayCollisions(visibility)

displayVisuals(visibility)

displayFrames(visibility)

abstractmethod drawFrameVelocities(*args, **kwargs)

updatePlacements(geometry_type)

updateFrames()

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.

Parameters:

transport_format – The transport format to use for the captured image. Can be “jpeg” (default) or “png”.

abstractmethod setBackgroundColor(preset_name='gray', col_top=None, col_bot=None)

Parameters:

preset_name (str)

abstractmethod setCameraTarget(target)

Parameters:

target (numpy.ndarray)

abstractmethod setCameraPosition(position)

Parameters:

position (numpy.ndarray)

abstractmethod setCameraZoom(zoom)

Parameters:

zoom (float)

abstractmethod setCameraPose(pose=np.eye(4))

Parameters:

pose (numpy.ndarray)

abstractmethod disableCameraControl()

abstractmethod enableCameraControl()