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.

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.

C++ Interface

This package implements a library built on Open Scene Graph to display various geometric primitives.

The library is able to parse urdf files and to create objects with each link of the robot. Basic geometric primitives can also be built (boxes, cylinders, capsules,...). See gepetto::viewer::Node inheritance diagram for a list of handled 3D objects.

As in OpenSceneGraph, objects are organized in trees. This package does not implement a kinematic chain. Each object must be placed separately in its parent frame.

The main entry points are:

• class gepetto::viewer::Node: Abstract base class of 3D objects in a scene.
• class gepetto::viewer::WindowManager:
• class gepetto::viewer::WindowsManager: Manage a set of windows that may share 3D objects.