30 lines
1.1 KiB
Python
30 lines
1.1 KiB
Python
# Example of creation of an object of class Display (implemented in the previous example, inside
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# a file 'display.py'). Do not forget to start Gepetto-viewer server in another terminal before
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# creating the client.
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import pinocchio as se3
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from pinocchio.utils import *
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from display import Display
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display = Display()
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# Example of use of the class Display to create a box visual object.
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boxid = 147
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name = 'box' + str(boxid)
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[w,h,d] = [1.0,1.0,1.0]
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color = [red,green,blue,transparency] = [1,1,0.78,1.0]
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display.viewer.gui.addBox('world/'+name, w,h,d,color)
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# Example of use of the class Display to create a sphere visual object.
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display.viewer.gui.addSphere('world/sphere', 1.0,color)
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# Example of use of the class Display to create a cylinder visual object.
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radius = 1.0
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height = 1.0
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display.viewer.gui.addCylinder('world/cylinder', radius,height,color)
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# Example of use of the class display to place the previously-create object at random SE3 placements.
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display.place("world/box147",se3.SE3.Random(),False)
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display.place("world/sphere",se3.SE3.Random(),False)
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display.place("world/cylinder",se3.SE3.Random())
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