C++ client to gepetto-viewer for Pinocchio.
It depends on:
- pinocchio
- gepetto-viewer-corba
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install_prefix ..
make installSee 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));You can launch the example with
gepetto-gui --load-plugin pinocchio-plugin.so --run-pyscript tests/pinocchio-plugin.py