Gepetto Viewer

This package provides a graphical user interface to visualize robots. There are two compatible interfaces to interact with the interface.

• the CORBA interface with Python and C++ clients.
• the graphical user interface.

To start the interface, use

gepetto-gui 

To get some help on the command line options, use

gepetto-gui --help 

To get command line completion for gepetto-gui command, see package https://github.com/humanoid-path-planner/hpp-tools.

CORBA interface

The IDL interface of the server is defined by gepetto::corbaserver::GraphicalInterface.

from gepetto.corbaserver import Client
client = Client ()
# open a new window
client.gui.createWindow ("w")
# refer to the idl interface to control gepetto-viewer.

Graphical user interface

Configuration files

The interface can be customized using a few setting files. See gepetto::gui::Settings::readSettingFile for more details on configuration files.

To generate a new configuration use:

gepetto-gui -c newConfigName -g 

To use the configuration config:

gepetto-gui -c newConfigName 

Extending the interface

There are two ways of extending the interface: Python and C++. Python plugins are easier to write than C++ plugins, but they do not offer full control of the interface (yet).

See the List of available plugins for some examples. Building and installing plugins is made easy with CMake macros.

• Python plugins See the documentation of gepetto::gui::PythonWidget for instructions and examples of Python plugin usage.

  The Python console is a good tool for debugging. The following variables are accessible:

  • mainWindow: gepetto::gui::MainWindow
  • osg: the widget responsible for the first created window (class gepetto::gui::OSGWidget)
• C++ Plugin See documentation of gepetto::gui::PluginInterface, for details on how to write a plugin.