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Graphical Interface for Pinocchio and HPP.

License: BSD 2-Clause "Simplified" License

CMake 1.06% C++ 98.76% Python 0.18%

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mesh is always rendered in color white

Hi guys,
It seems I have another bug.
No matter what color I provide to a mesh, the mesh is always displayed as completely white.

I don't have any color issue in pybullet, and pybullet loads the color that is specified in the material tag of urdf.
However when loading in gepetto-gui, the color doesn't seem to change.

I checked the pinocchio parser, and it is providing the good color information to gepetto-viewer. I also tried changing the color directly using the gui interface in gepetto-gui, and there is no effect.

Could you please help me figure out the issue?

No package 'openscenegraph' found

when i try to build gepetto-viewer, the error raised that 'No package 'openscenegraph' found' . but i actually already installed openscenegraph. As osgversion command works well on my linux system.

Parsing of Collada files

Collada has a tag up_axis. Assimp seems not to read it while OSG seems to read it.

Assimp is used to parse mesh files in ROS and in hpp-fcl.
It seems this is a bug in Assimp. However, it is not possible to solve this bug. There are too many people relying on the current behaviour of assimp.

I see several solutions to this recurrent issue:

[bad idea] somehow remove the tag up_axis before it is parsed by OSG.
use assimp to read meshes in GV... that should not be too tedious but still require some work.

compile error s about osg

My environment is Ubuntu16.04 and I have installed openrave and openscenegraph3.2.1. The cmake can detect the openscenegraph successfully:

However, errors occur during the compiling like the following :

Impossible to clone submodule

Hi, it seems that the submodule can not be clone due to a GitHub authentication error.

tflayols@kiso:~/git$ git clone [email protected]:Gepetto/gepetto-viewer.git --recursive 
Clonage dans 'gepetto-viewer'...
remote: Enumerating objects: 4354, done.
remote: Counting objects: 100% (393/393), done.
remote: Compressing objects: 100% (294/294), done.
remote: Total 4354 (delta 166), reused 206 (delta 86), pack-reused 3961
Réception d'objets: 100% (4354/4354), 2.35 Mio | 1.11 Mio/s, fait.
Résolution des deltas: 100% (2692/2692), fait.
Sous-module 'cmake' (git://github.com/jrl-umi3218/jrl-cmakemodules.git) enregistré pour le chemin 'cmake'
Clonage dans '/home/tflayols/git/gepetto-viewer/cmake'...
fatal: erreur distante : 
  The unauthenticated git protocol on port 9418 is no longer supported.
Please see https://github.blog/2021-09-01-improving-git-protocol-security-github/ for more information.
fatal: le clonage de 'git://github.com/jrl-umi3218/jrl-cmakemodules.git' dans le chemin de sous-module '/home/tflayols/git/gepetto-viewer/cmake' a échoué
Impossible de cloner 'cmake'. Réessai prévu
Clonage dans '/home/tflayols/git/gepetto-viewer/cmake'...
fatal: erreur distante : 
  The unauthenticated git protocol on port 9418 is no longer supported.
Please see https://github.blog/2021-09-01-improving-git-protocol-security-github/ for more information.
fatal: le clonage de 'git://github.com/jrl-umi3218/jrl-cmakemodules.git' dans le chemin de sous-module '/home/tflayols/git/gepetto-viewer/cmake' a échoué
Impossible de cloner 'cmake' pour la seconde fois, abandon

Trouble building on 20.04

Hi, I'm having trouble building GV, when I follow the build instructions and run cmake .. I get the following error, that I can't find openscenegraph-osgQt5. How do I install this dependency? I also wasn't able to find it manually myself. Many thanks!

-- Package version (ROS package.xml): 4.11.0
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
CMake Warning at cmake/doxygen.cmake:496 (MESSAGE):
  Failed to find Doxygen, documentation will not be generated.
Call Stack (most recent call first):
  cmake/post-project.cmake:58 (_SETUP_PROJECT_DOCUMENTATION)
  CMakeLists.txt:40 (PROJECT)


-- openscenegraph >= 3.2 is required.
-- Checking for module 'openscenegraph>=3.2'
--   Found openscenegraph, version 3.6.4
-- Pkg-config module openscenegraph v3.6.4 has been detected with success.
-- openthreads >= 2.6 is required.
-- Checking for module 'openthreads>=2.6'
--   Found openthreads, version 3.3.1
-- Pkg-config module openthreads v3.3.1 has been detected with success.
-- openscenegraph-osgQt5 is required.
-- Checking for module 'openscenegraph-osgQt5'
--   No package 'openscenegraph-osgQt5' found
CMake Error at /usr/share/cmake-3.16/Modules/FindPkgConfig.cmake:463 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPkgConfig.cmake:643 (_pkg_check_modules_internal)
  cmake/pkg-config.cmake:336 (PKG_CHECK_MODULES)
  cmake/pkg-config.cmake:550 (ADD_DEPENDENCY)
  cmake-module/osgqt.cmake:11 (ADD_REQUIRED_DEPENDENCY)
  CMakeLists.txt:120 (ADD_OSGQT_DEPENDENCY)


-- Configuring incomplete, errors occurred!
See also "/home/jake/Projects/gepetto-viewer/_build/CMakeFiles/CMakeOutput.log".

Collision geometry are parsed even when not requested

Function parse in urdf-parser.h, urdf-parser.cpp parses collision and visual geometries specified in URDF file whenever linkFrame is true.

This raises an issue when the parser does not know how to parse collision file.

Installation on Ubuntu-18.04 fails

I have upgraded my computer to ubuntu-18.04 and the build of gepetto-viewer branch devel (just checked out) fails.

The problem seems to come from the fact that gepetto-gui is not linked to the python library. As a consequence, at linking, I get several messages like
undefined reference to `PyString_Size'

I solved the issue by adding a line in the src/CMakeLists.txt (commit f47465a) but I am surprised that nobody got the same issue.

gepetto-gui does't exist

My list of robotpkg packages looks like this but the command gepetto-gui doesn't exist on my system! How can I run gepetto-viewer?

ii  robotpkg-collada-dom                       2.4.0r1                                         amd64        C++ object representation of a COLLADA XML instance document
ii  robotpkg-eigen3                            3.3.0                                           amd64        a C++ template library for linear algebra
ii  robotpkg-example-robot-data                3.12.0                                          amd64        Robot URDFs for benchmarking and developed examples
ii  robotpkg-hpp-constraints+doc               4.12.0                                          amd64        Humanoid Path Planner (Define non-linear constraints on robot configurations)
ii  robotpkg-hpp-core                          4.12.0r1                                        amd64        Humanoid Path Planner (Basic classes for general path planning)
ii  robotpkg-hpp-environments+doc              4.12.0                                          amd64        Humanoid Path Planner (Environments and robot descriptions for HPP)
ii  robotpkg-hpp-fcl+doc                       1.7.8                                           amd64        Humanoid Path Planner (collision detection and distance computations)
ii  robotpkg-hpp-manipulation                  4.12.0r1                                        amd64        Humanoid Path Planner (Manipulation problem definition and resolution)
ii  robotpkg-hpp-manipulation-urdf+doc         4.12.0r1                                        amd64        Humanoid Path Planner (URDF/SRDF parser for the package hpp-manipulation)
ii  robotpkg-hpp-pinocchio                     4.12.0                                          amd64        Humanoid Path Planner (Wrapping of the kinematic/dynamic chain Pinocchio for HPP.)
ii  robotpkg-hpp-statistics+doc                4.12.0                                          amd64        Humanoid Path Planner (Tools to make statistics)
ii  robotpkg-hpp-template-corba+doc            4.12.0                                          amd64        Humanoid Path Planner (Template CORBA servers for HPP)
ii  robotpkg-hpp-util+doc                      4.12.0                                          amd64        Humanoid Path Planner (utility tools)
ii  robotpkg-libccd                            2.0                                             amd64        collision detection
ii  robotpkg-octomap                           1.9.6                                           amd64        An Efficient Probabilistic 3D Mapping Framework Based on Octrees
ii  robotpkg-omniorb                           4.2.4                                           amd64        ORB that implements the 2.6 specification of the CORBA
ii  robotpkg-openscenegraph                    3.6.5r3                                         amd64        open source high performance 3D graphics toolkit
ii  robotpkg-pinocchio                         2.6.4                                           amd64        Efficient rigid body dynamics
ii  robotpkg-py36-crocoddyl                    1.8.1                                           amd64        Optimal control library for robot under contact sequence
ii  robotpkg-py36-eigenpy                      2.6.9                                           amd64        Eigen bindings to python
ii  robotpkg-py36-example-robot-data           3.12.0                                          amd64        Robot URDFs for benchmarking and developed examples
ii  robotpkg-py36-hpp-corbaserver              4.12.0r1                                        amd64        Humanoid Path Planner (Corba server for Humanoid Path Planner)
ii  robotpkg-py36-hpp-fcl                      1.7.8                                           amd64        Humanoid Path Planner (collision detection and distance computations (python bindingss))
ii  robotpkg-py36-hpp-manipulation-corba       4.12.0r1                                        amd64        Humanoid Path Planner (CORBA interface for hpp-manipulation)
ii  robotpkg-py36-omniorbpy                    4.2.4                                           amd64        Robust high-performance CORBA ORB for Python
ii  robotpkg-py36-pinocchio                    2.6.4                                           amd64        Efficient rigid body dynamics (python bindings)
ii  robotpkg-py36-qt5-gepetto-viewer+doc       4.12.1                                          amd64        Humanoid Path Planner (Simple viewer based on OpenSceneGraph)
ii  robotpkg-py36-qt5-gepetto-viewer-corba+doc 5.6.0                                           amd64        Humanoid Path Planner (Corba server for gepetto-viewer)
ii  robotpkg-py36-qt5-hpp-gepetto-viewer+doc   4.12.0                                          amd64        Humanoid Path Planner (Bridge between hpp-corbaserver and gepetto-viewer-corba)
ii  robotpkg-py36-qt5-hpp-gui+doc              4.12.0                                          amd64        Humanoid Path Planner (Graphical interface for HPP)
ii  robotpkg-py36-qt5-hpp-plot+doc             4.12.0                                          amd64        Humanoid Path Planner (Plotting tools for hpp)
ii  robotpkg-qpoases+doc                       3.2.1r1                                         amd64        C++ implementation of the online active set strategy
ii  robotpkg-qt5-osgqt                         3.5.7r3                                         amd64        open source high performance 3D graphics toolkit
ii  robotpkg-qt5-qgv                           1.3.2                                           amd64        Interactive Qt graphViz display
ii  robotpkg-urdfdom                           1.0.3                                           amd64        The URDF (U-Robot Description Format) library
ii  robotpkg-urdfdom-headers                   1.0.4                                           amd64        The URDF (U-Robot Description Format) headers

Error compiling Gepetto-viewer on macOS 10.13 High Sierra

I am trying to install the master branch on Mac OS 10.13. I encountered 3 types of errors while compiling urdf-parser.cpp, and each occurred multiple times.

Since I don't use the URDF parser in my project, is it easy to just remove that functionality while installing? Thanks in advance.

1. no viable overloaded

/Users/zml/gepetto-viewer/src/urdf-parser.cpp:105:18: error: no viable overloaded '='
visual = link->visual_array[index];
~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:524:18: note: candidate function not viable: no known conversion from 'value_type' (aka 'std::__1::shared_ptrurdf::Visual') to 'const boost::shared_ptrurdf::Visual' for 1st argument
shared_ptr & operator=( shared_ptr const & r ) BOOST_NOEXCEPT
^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:533:18: note: candidate template ignored: could not match 'boost::shared_ptr' against 'std::__1::shared_ptr'
shared_ptr & operator=(shared_ptr const & r) BOOST_NOEXCEPT
^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:544:18: note: candidate template ignored: could not match 'auto_ptr' against 'shared_ptr'
shared_ptr & operator=( std::auto_ptr & r )
^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:562:77: note: candidate template ignored: substitution failure [with Ap = std::__1::shared_ptrurdf::Visual]: no type named 'type' in 'boost::detail::sp_enable_if_auto_ptr<std::__1::shared_ptrurdf::Visual,
boost::shared_ptrurdf::Visual &>'
typename boost::detail::sp_enable_if_auto_ptr< Ap, shared_ptr & >::type operator=( Ap r )
~~~~ ^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:584:18: note: candidate template ignored: could not match 'unique_ptr' against 'shared_ptr'
shared_ptr & operator=( boost::movelib::unique_ptr<Y, D> r )

2. no matching function for call to 'static_pointer_cast'

/Users/zml/gepetto-viewer/src/urdf-parser.cpp:147:20: error: no matching function for call to 'static_pointer_cast'
mesh_shared_ptr = boost::static_pointer_cast< ::urdf::Mesh >
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:845:42: note: candidate template ignored: could not match 'boost::shared_ptr' against 'std::__1::shared_ptr'
template<class T, class U> shared_ptr static_pointer_cast( shared_ptr const & r ) BOOST_NOEXCEPT

3. use of overloaded operator '!=' is ambiguous

/Users/zml/gepetto-viewer/src/urdf-parser.cpp:172:62: error: use of overloaded operator '!=' is ambiguous (with operand types 'MaterialSharedPtr' (aka 'shared_ptrurdf::Material') and 'long')
if (visual && urdfLink->visual_array [j]->material != NULL) {
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~

Release

We should do a new release, now that the convention for quaternions has changed.

Gepetto/gepetto-viewer-corba#61

Forward Qt dependency in .pc

Hi,

When a dependency of this package tries to import config-osg.h, it fails on the following line:

gepetto-viewer/include/gepetto/viewer/config-osg.h

Line 13 in 26a29eb

#include <QMetaType>

e.g. in http://robotpkg.openrobots.org/rbulk/robotpkg-wip/wip/openhrp3-simulator-wo-rtm/openhrp3-simulator-wo-rtm-1.2.0/Ubuntu-16.04-x86_64/build.html :

/opt/openrobots/include/gepetto/viewer/config-osg.h:13:21: fatal error: QMetaType: No such file or directory

So I think we should add a Cflags with -I${QT_QTCORE_INCLUDE_DIR} in the .pc.

(I still have to check if this is the same for Qt5)

Release

@nim65s Why release version has made such big jump?

basic geometry from the urdf no recognised

Upon loading of a urdf, the simple geometry are not parse properly. The viewer creates the nodes but do not display anything. I think this has to do with the urdfdom compatilibity.

object collision detection inside gepetto-viewer

Hi,
I am new with gepetto-viewer. I am trying to visualize collisions of an object I placed inside the gui with the robot. what is the optimal way of doing so? Are there some tutorials/examples I can look into? Thanks in advance.

Installing gepetto-viewer with conda

Hi,
I've been trying out pinocchio but it doesn't seem to notice my gepetto-viewer install (https://anaconda.org/conda-forge/gepetto-viewer).
Both are installed with conda in the same environment.

I launch the viewer with gepetto-gui and then my pinocchio script throws (the viewer examples throws the same error):

$ python inverse-kinematics.py 
inverse-kinematics.py:53: UserWarning: Error while importing the viewer client.
Check whether gepetto-viewer is properly installed
  viz.initViewer()
inverse-kinematics.py:53: UserWarning: Error while starting the viewer client.
Check whether gepetto-viewer is properly started
  viz.initViewer()
Error while loading the viewer model. It seems you should start gepetto-viewer
'GepettoVisualizer' object has no attribute 'viewer'

devel -> master & new release ?

Would it be possible to make a new release of gepetto-viewer to 1.1.0 ?
A test with robotpkg on a 14.04 LTS seems to be compiling.
Best,
Olivier.

Meshes are colored by the color of objects added to the viewer when moving the camera

When adding color to one object (i.e. an sphere using addSphere) in the viewer, all my meshes take this color.
When adding more than one colored object (each object has a different color), the meshes take these colors and the color change when moving the camera .

error in window-manager.cpp during install

the error returned
gepetto-viewer/src/window-manager.cpp:420:12: error: no member named 'get' in 'osg::Matrixd'
matrix.get(rot);

devel branch not compatible with Qt4

QTemporaryDir is not available in Qt4.

Scene characteristics parametrization

Hello,
Is there a python example on how to parametrize the 3D scene appearance (ground, background,...) and load objects in the scene ?
Best
Vincent

missing dependency: No package 'openscenegraph-osgQt5' found

Hi,
I tried to install gepetto-viewer from source (with a recent installation of OpenSceneGraph 3.6) but the cmake fails. Which dependency am I missing? Could you please provide me a link?
thank you
Niels

ndehio@ndehio-5540:~/src/gepetto-viewer/build$ cmake ..
-- Package version (ROS package.xml): 4.11.0
-- CMake versions older than 3.12 may warn when looking to Boost components. Custom macros are used to find it.
-- openscenegraph >= 3.2 is required.
-- Checking for module 'openscenegraph>=3.2'
--   Found openscenegraph, version 3.6.5
-- Pkg-config module openscenegraph v3.6.5 has been detected with success.
-- openthreads >= 2.6 is required.
-- Checking for module 'openthreads>=2.6'
--   Found openthreads, version 3.3.1
-- Pkg-config module openthreads v3.3.1 has been detected with success.
-- openscenegraph-osgQt5 is required.
-- Checking for module 'openscenegraph-osgQt5'
--   No package 'openscenegraph-osgQt5' found
CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:415 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:593 (_pkg_check_modules_internal)
  cmake/pkg-config.cmake:336 (PKG_CHECK_MODULES)
  cmake/pkg-config.cmake:550 (ADD_DEPENDENCY)
  cmake-module/osgqt.cmake:11 (ADD_REQUIRED_DEPENDENCY)
  CMakeLists.txt:120 (ADD_OSGQT_DEPENDENCY)

intergration inside robotpkg

In robotpkg it seems that the dependance of this package to robotpkg-omniorbpy is not set properly.
It looks like one have to install it separately to make the viewer work.

Gepetto-gui large CPU usage

Dear @jmirabel,

Since the latest release of Gepetto-gui, I realized that a lot of CPU resources are used by gepetto-gui. Do you have any idea which change is at the origin of this downgrade?

gepetto-gui: "radius" text box being filled with garbage values

Hi guys,

When setting the radius of a cylinder through the gepetto-gui API, I noticed some weird behaviour. When I press "del" or "backspace" to delete the existing values, the tail end of the value keeps filling up with what I think is garbage. I attach a video to show what I observed

gepetto.mp4

I am currently on the commit 11d71fb in the devel branch.

Scaling factor set in the urdf are not recognized.

Setup:
Ubuntu14.04
robotpkg standard+wip with binary installation

example of problems with urdf:

<link name="L_HAND">
    <visual>
      <!-- <geometry>
          <box size=".06 .06 .06"/>
        </geometry> -->
      <geometry>
        <mesh filename="package://robot_properties_athena/meshes/stl/athena_hand.stl"
                    scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="grey">
        <color rgba=".7 .7 .7 1.0"/>
      </material>
    </visual>
  </link>

[Ubuntu 18.04] gui items disappear behind transparent robot

Hello,
I'm using gepette-gui to visualize robot trajectories and physical quantities like CoM/CoP/DCM...
The issue I'm facing is that when displaying a transparent robot and a sphere representing the CoP, that sphere disappears behind the transparent robot, while the floor is clearly visible behind the robot.
Below is the core code that I use for displaying the scene.
Am I missing something or is that a bug/shortcoming?

from pinocchio.robot_wrapper import RobotWrapper
  
robot = RobotWrapper()
colorized_urdf = get_colorized_urdf(urdf_path, (1,1,1,0.7))
robot.initFromURDF(colorized_urdf, [root_path], pinocchio.JointModelFreeFlyer())
robot.initDisplay()
robot.viewer.gui.addFloor('hpp-gui/floor')
robot.loadDisplayModel('my_robot')
robot.display(utils.array_to_matrix(model_positions[:, 0]))
robot.viewer.gui.addSphere('current_CoP', 0.02, [1, 0, 0, 1])
robot.viewer.gui.addLine('current_CoP_line', [0.0, .0, 0.0], [0.0, 0.0, 0.3], [1, 0, 0, 1])
robot.viewer.gui.addToGroup('current_CoP', 'world')
robot.viewer.gui.addToGroup('current_CoP_line', 'world')

wait_for_start()

for i in range(len(times) - 1):
       robot.display(utils.array_to_matrix(model_positions[:, i]))
       dt = (times[i + 1] - times[i]) / speed
       if dt > 0.:
           time.sleep(dt)
       robot.viewer.gui.applyConfiguration('current_CoP', (cop[:, i].tolist() + [0.0, 0.0, 0.0, 1.0]))
       robot.viewer.gui.applyConfiguration('current_CoP_line', (cop[:, i].tolist() + [0.0, 0.0, 0.0, 1.0]))

   robot.display(utils.array_to_matrix(model_positions[:, -1]))

error: ‘ObjectCache’ is not a member of ‘osgDB’

Hi,

Since #77, I can't build devel:

/local/users/gsaurel/gepetto/gepetto-viewer/src/leaf-node-collada.cpp: In member function ‘void graphics::LeafNodeCollada::init()’:
/local/users/gsaurel/gepetto/gepetto-viewer/src/leaf-node-collada.cpp:59:27: error: ‘ObjectCache’ is not a member of ‘osgDB’
       static osg::ref_ptr<osgDB::ObjectCache> object_cache (new osgDB::ObjectCache);
                           ^

This error could have been prevented by checking the CI:
https://gepgitlab.laas.fr/gepetto/gepetto-viewer/pipelines/3113/builds

This error prevents the CI of hpp-doc to pass: https://gepgitlab.laas.fr/gsaurel/hpp-doc/-/jobs/12087.

Default for avconv setting on 18.04 wrong

Relates to #92 and #94.

#94 added the ability to configure avconv to be ffmpeg or whatever we want. However, in the robotpkg distributed viewer, it still points to avconv on 18.04 by default - it is now ffmpeg again. Can this be fixed in the distributed version?

Meshes are never deleted

To display an octree, I create an obj file that I then load through CORBA by calling method WindowsManager::addMesh.
This function calls LeafNodeCollada::create that calls LeafNodeCollada::init.

After this line,

gepetto-viewer/src/leaf-node-collada.cpp

Line 110 in 7e420b7

collada_ptr_ = osgDB::readNodeFile(collada_file_path_,options);

the number of referenceCount of collada_ptr_ is 2 although I expect it to be 1.
As a consequence, in the desctructor the test

gepetto-viewer/src/leaf-node-collada.cpp

Line 439 in 7e420b7

if (collada_ptr_->referenceCount() == 2) {

is always false and the object is never removed from the cache.
As a consequence, reloading the object after deleting the node displayes the previous object eventhough the files has been modified.

I tried to add a method to explicitely remove the object from the cache when deleting the node, but it does not solve the problem.
I also tried to decrement manually the counter by adding

collada_ptr_->unref()

after line 110 above, but I got a segmentation fault.

Does anyone know whether it is normal that the reference count is equal to 2 just after creating the object ?

Robotpkg packaging

Hi @nim65s,

Could you update gepetto-viewer binaries on robotpkg:

to include QCustomPlot (cmake -DBUILD_PY_QCUSTOM_PLOT=ON should be sufficient) and
to add oxygen-icon-theme as an apt dependency ?

For the record, QCustomPlot license is GPL and it is included in gepetto-viewer as a plugin. It does not change the license of gepetto-viewer. It implies that Python plugins based on QCustomPlot are GPL.

devel -> master & release

Dear all,
Will you be ok with merging devel into master,
and thinking about a release (the tag for v1.0.0 is 03/2015...)

Best,
Olivier.

Handle Lighting parameters when rendering colors

Hi Guys,

OpenGL proposes the following lighting parameters for rendering objects: ambient, diffuse, specular and emissive. These are explained in http://www.glprogramming.com/red/chapter05.html
Allowing this in gepetto-viewer should be possible with the current API.

This is a tracker issue, meant to keep this development in check.
Best,
Rohan

Migration from osgQt to osgQOpenGL

Hi,

In recent developments, the osgQt project removed everything related to osgQt (they just kept the name of the project) and switched to the new Qt5 preffered way and use QOpenGL:

openscenegraph/osgQt#22

@jmirabel : could you evaluate the difficulty for us to move to the new interface ? Depending on the required work to make the switch, we can either do it, or I can finish my packaging with an older version of osgQt.

issue with running CMake (maybe ADD_REQUIRED_DEPENDENCY macro)

Hi,
I've been trying to compile gepetto-viewer on a Ubuntu distribution.
When I run cmake, however, I get the following error message.

-- openscenegraph >= 3.2 is required.
-- Checking for module 'openscenegraph >= 3.2'
--
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
  cmake/pkg-config.cmake:288 (PKG_CHECK_MODULES)
  cmake/pkg-config.cmake:459 (ADD_DEPENDENCY)
  CMakeLists.txt:75 (ADD_REQUIRED_DEPENDENCY)

The issue seems to be related to the ADD_REQUIRED_DEPENDENCY macro in cmake/pkg-config.cmake failing to find openscenegraph.
openscenegraph is installed in /usr/local/lib64/; I tried both compiling and installing with apt-get install and it does not seem to make a difference.
I'm not used to the macro system being used for adding libraries to this project.
Any suggestion on how to fix/troubleshoot the issue?

Connection lost to the server

Hi guys,
I'm following the devel branch in gepetto-viewer and gepetto-viewer-corba.

For the simple script below:

from example_robot_data import loadTalos
r = loadTalos()
r.initViewer(loadModel=True)

I get the following error:

omniORB: From endpoint: giop:tcp:[::1]:12321. Detected GIOP 1.0 protocol error in input message. giopImpl10.cc:438. Connection is closed.
omniORB: To endpoint: giop:tcp:[::1]:12321. Send GIOP 1.0 MessageError because a protocol error has been detected. Connection is closed.
/local/rbudhira/devel/install/sot/lib/python2.7/dist-packages/pinocchio/robot_wrapper.py:238: UserWarning: Error while starting the viewer client.
Check whether gepetto-viewer is properly started
  self.viz.initViewer(*args, **kwargs)

I'm not sure why the connection gets closed. I've tried reinstalling gepetto-viewer, and I've tried restarting omni-nameserver by sudo systemctl restart omniorb4-nameserver

I have the following warning messages in the shell running gepetto-gui


Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'Highlight/State')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'LightingMode')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'Visibility')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'WireframeMode')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'Highlight/State')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'LightingMode')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'Visibility')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'WireframeMode')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'Highlight/State')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'LightingMode')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'Visibility')
Object::connect: No such signal QComboBox::currentTextChanged(QString)
Object::connect:  (receiver name: 'WireframeMode')
omniORB: From endpoint: giop:tcp:[::1]:46208. Detected GIOP 1.0 protocol error in input message. giopImpl10.cc:590. Connection is closed.
omniORB: To endpoint: giop:tcp:[::1]:46208. Send GIOP 1.0 MessageError because a protocol error has been detected. Connection is closed.

I'm using python2.7, and Ubuntu16.04. Any help would be welcome,

Best
Rohan

compilation error

I can not figure out why I am not able to compile the package. I got the following error:

error: ‘void QAbstractButton::clicked(bool)’ is protected within this context
     QObject::connect(button, &QAbstractButton::clicked, [this]() { get(); });
                                                ^~~~~~~
In file included from /usr/include/qt4/QtGui/qcheckbox.h:45:0,
                 from /usr/include/qt4/QtGui/QCheckBox:1,
                 from /home/amosca/gepetto-viewer/src/node-property.cpp:21:
/usr/include/qt4/QtGui/qabstractbutton.h:127:10: note: declared protected here
     void clicked(bool checked = false);
          ^~~~~~~
/home/amosca/gepetto-viewer/src/node-property.cpp:158:76: error: no matching function for call to ‘gepetto::viewer::VoidProperty::connect(QPushButton*&, void (QAbstractButton::*)(bool), gepetto::viewer::VoidProperty::guiEditor()::<lambda()>)’
     QObject::connect(button, &QAbstractButton::clicked, [this]() { get(); });
                                                                            ^
In file included from /usr/include/qt4/QtCore/QObject:1:0,
                 from /home/amosca/gepetto-viewer/include/gepetto/viewer/node-property.h:29,
                 from /home/amosca/gepetto-viewer/src/node-property.cpp:17:
/usr/include/qt4/QtCore/qobject.h:204:17: note: candidate: static bool QObject::connect(const QObject*, const char*, const QObject*, const char*, Qt::ConnectionType)
     static bool connect(const QObject *sender, const char *signal,
                 ^~~~~~~
/usr/include/qt4/QtCore/qobject.h:204:17: note:   candidate expects 5 arguments, 3 provided
/usr/include/qt4/QtCore/qobject.h:217:17: note: candidate: static bool QObject::connect(const QObject*, const QMetaMethod&, const QObject*, const QMetaMethod&, Qt::ConnectionType)
     static bool connect(const QObject *sender, const QMetaMethod &signal,
                 ^~~~~~~
/usr/include/qt4/QtCore/qobject.h:217:17: note:   candidate expects 5 arguments, 3 provided
/usr/include/qt4/QtCore/qobject.h:337:13: note: candidate: bool QObject::connect(const QObject*, const char*, const char*, Qt::ConnectionType) const
 inline bool QObject::connect(const QObject *asender, const char *asignal,
             ^~~~~~~
/usr/include/qt4/QtCore/qobject.h:337:13: note:   no known conversion for argument 2 from ‘void (QAbstractButton::*)(bool)’ to ‘const char*’
src/CMakeFiles/gepetto-viewer.dir/build.make:611: recipe for target 'src/CMakeFiles/gepetto-viewer.dir/node-property.cpp.o' failed
make[2]: *** [src/CMakeFiles/gepetto-viewer.dir/node-property.cpp.o] Error 1
make[2]: uscita dalla directory "/home/amosca/gepetto-viewer/build"
CMakeFiles/Makefile2:1471: recipe for target 'src/CMakeFiles/gepetto-viewer.dir/all' failed
make[1]: *** [src/CMakeFiles/gepetto-viewer.dir/all] Error 2
make[1]: uscita dalla directory "/home/amosca/gepetto-viewer/build"
Makefile:143: recipe for target 'all' failed
make: *** [all] Error 2

The output of the cmake is the following:

-- Package version (ROS package.xml): 4.12.1
-- CMake versions older than 3.12 may warn when looking to Boost components. Custom macros are used to find it.
-- The CXX compiler identification is GNU 7.5.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Performing Test R-pedantic
-- Performing Test R-pedantic - Success
-- Performing Test R-Wno-long-long
-- Performing Test R-Wno-long-long - Success
-- Performing Test R-Wall
-- Performing Test R-Wall - Success
-- Performing Test R-Wextra
-- Performing Test R-Wextra - Success
-- Performing Test R-Wcast-align
-- Performing Test R-Wcast-align - Success
-- Performing Test R-Wcast-qual
-- Performing Test R-Wcast-qual - Success
-- Performing Test R-Wformat
-- Performing Test R-Wformat - Success
-- Performing Test R-Wwrite-strings
-- Performing Test R-Wwrite-strings - Success
-- Performing Test R-Wconversion
-- Performing Test R-Wconversion - Success
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
CMake Warning at cmake/doxygen.cmake:496 (MESSAGE):
  Failed to find Doxygen, documentation will not be generated.
Call Stack (most recent call first):
  cmake/post-project.cmake:59 (_SETUP_PROJECT_DOCUMENTATION)
  CMakeLists.txt:41 (PROJECT)


-- Default C++ standard: 201402
-- Minimal C++ standard upgraded to 11
-- C++ standard sufficient: Minimal required 11, currently defined: 14
-- openscenegraph >= 3.2 is required.
-- Checking for module 'openscenegraph>=3.2'
--   Found openscenegraph, version 3.2.3
-- Pkg-config module openscenegraph v3.2.3 has been detected with success.
-- openthreads >= 2.6 is required.
-- Checking for module 'openthreads>=2.6'
--   Found openthreads, version 3.3.1
-- Pkg-config module openthreads v3.3.1 has been detected with success.
-- openscenegraph-osgQt is required.
-- Checking for module 'openscenegraph-osgQt'
--   Found openscenegraph-osgQt, version 3.2.3
-- Pkg-config module openscenegraph-osgQt v3.2.3 has been detected with success.
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found
-- Found Qt4: /usr/bin/qmake-qt4 (found version "4.8.7") 
-- qgv is optional.
-- Checking for module 'qgv'
--   No package 'qgv' found
-- Found PythonInterp: /usr/bin/python (found version "2.7.17") 
-- PythonInterp: /usr/bin/python
-- PYTHON_INCLUDE_DIRS:/usr/include/python2.7
-- PYTHON_INCLUDE_DIR:/usr/include/python2.7
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython2.7.so (found version "2.7.17") 
-- PythonLibraries: /usr/lib/x86_64-linux-gnu/libpython2.7.so
-- PythonLibraryDirs: /usr/lib/x86_64-linux-gnu
-- PythonLibVersionString: 2.7.17
-- Python site lib: lib/python2.7/dist-packages
-- Could NOT find PythonQt (missing: PYTHONQT_LIBRARY PYTHONQT_INCLUDE_DIR QtAll) 
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   unit_test_framework
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   python27
-- Boost_PYTHON_LIBRARY: /usr/lib/x86_64-linux-gnu/libboost_python-py27.so
CMake Warning (dev) in CMakeLists.txt:
  A logical block opening on the line

    /home/amosca/gepetto-viewer/CMakeLists.txt:160 (IF)

  closes on the line

    /home/amosca/gepetto-viewer/CMakeLists.txt:168 (ENDIF)

  with mis-matching arguments.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning at CMakeLists.txt:163 (MESSAGE):
  neither ffmpeg nor avconv have been found.


-- Skipping PythonQt settings
-- Configuring done
CMake Warning (dev) in src/CMakeLists.txt:
  Policy CMP0071 is not set: Let AUTOMOC and AUTOUIC process GENERATED files.
  Run "cmake --help-policy CMP0071" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  For compatibility, CMake is excluding the GENERATED source file(s):

    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_action-search-bar.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_bodytreewidget.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/dialog/moc_configuration.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/dialog/moc_dialogloadenvironment.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/dialog/moc_dialogloadrobot.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/dialog/moc_pluginmanagerdialog.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_ledindicator.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_mainwindow.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_node-action.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_osgwidget.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_selection-event.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_selection-handler.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_shortcut-factory.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_tree-item.cxx"
    "/home/amosca/gepetto-viewer/build/src/__/include/gepetto/gui/moc_windows-manager.cxx"
    "/home/amosca/gepetto-viewer/build/src/qrc_images.cxx"

  from processing by AUTOMOC and AUTOUIC.  If any of the files should be
  processed, set CMP0071 to NEW.  If any of the files should not be
  processed, explicitly exclude them by setting the source file property
  SKIP_AUTOGEN:

    set_property(SOURCE file.h PROPERTY SKIP_AUTOGEN ON)

This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done
-- Build files have been written to: /home/amosca/gepetto-viewer/build

what am i doing wrong?

Desynchronize method refresh with rendering loop by default

Follows discussion in stack-of-tasks/pinocchio#1068

The implementation (418fb8f) is very simple and being tested.

New release 4.3.1

With the new fixes, I would need to make a new release of Gepetto-viewer. @jmirabel Is it fine for you?

check URDFs with names containing /

As found by @bmelya, <link name="DFKI_Motor_0/axis"> doesn't work.

robotpkg - Installation dependency conflicts

Hi,

I am trying to install gepetto-viewer using robotpkg, which seems to be configured correctly because I am able to install and use other packages (e.g., pinocchio). However, when trying to install gepetto-viewer I get the following error

The following packages have unmet dependencies:
 robotpkg-gepetto-viewer : Depends: robotpkg-urdfdom-headers (= 0.3.0) but 1.0.4 is to be installed
                           Depends: robotpkg-urdfdom (= 0.3.0r2) but 1.0.3 is to be installed
E: Unable to correct problems, you have held broken packages.
olli@oberon:~/Documents/PhD/devel/projects/consim/script$

I am working on Linux Mint 19.2, which is based on Ubuntu 18.04. I have tried to clean my system by uninstalling most robotpkg packages, so that now I have only the following packages:

$ dpkg -l | grep robotpkg
ii  robotpkg-eigen3                            3.3.0                                           amd64        a C++ template library for linear algebra
ii  robotpkg-hpp-fcl+doc                       1.2.0                                           amd64        Humanoid Path Planner (collision detection and distance computations)
ii  robotpkg-libccd                            2.0                                             amd64        collision detection
ii  robotpkg-octomap                           1.9.0                                           amd64        An Efficient Probabilistic 3D Mapping Framework Based on Octrees
ii  robotpkg-py36-eigenpy                      1.6.9                                           amd64        Eigen bindings to python

Can anybody help me figure out why it doesn' t work? Thanks in advance for your help.

Fail to compile gepetto-viewer in Ubuntu-16.04, qt4.

I try to recompile HPP with the latest releases to update the installation instruction.
When linking gepetto-gui I have many undefined symbols and I notice that the link command does not contain -lpython. Looking at the CMakeLists below,

gepetto-viewer/src/CMakeLists.txt

Line 147 in f7b4a44

TARGET_LINK_BOOST_PYTHON(${LIBRARY_NAME})

I would expect something like

TARGET_LINK_LIBRARY(${LIBRARY_NAME} python)

I do not understand either why

${PROJECT_QT_LIBS}
${PYTHONQT_LIBRARIES})

is not inside the test

IF(GEPETTO_GUI_HAS_PYTHONQT)

The linking command line:

[ 91%] Linking CXX executable gepetto-gui
cd /home/florent/devel/test/src/gepetto-viewer/build-rel/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/gepetto-gui.dir/link.txt --verbose=1
/usr/lib/ccache/g++   -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion  -O3 -DNDEBUG  -rdynamic  -losg -losgDB -losgFX -losgGA -losgParticle -losgSim -losgText -losgUtil -losgTerrain -losgManipulator -losgViewer -losgWidget -losgShadow -losgAnimation -losgVolume -lOpenThreads CMakeFiles/gepetto-gui.dir/gui/main.cc.o CMakeFiles/gepetto-gui.dir/gepetto-gui_autogen/mocs_compilation.cpp.o  -o gepetto-gui -Wl,-rpath,/home/florent/devel/test/src/gepetto-viewer/build-rel/src:/home/florent/devel/test/install/lib: -losg -losgDB -losgFX -losgGA -losgParticle -losgSim -losgText -losgUtil -losgTerrain -losgManipulator -losgViewer -losgWidget -losgShadow -losgAnimation -losgVolume -lOpenThreads libgepetto-viewer.so -losgQt -losg -losgDB -losgFX -losgGA -losgParticle -losgSim -losgText -losgUtil -losgTerrain -losgManipulator -losgViewer -losgWidget -losgShadow -losgAnimation -losgVolume -lOpenThreads -lboost_unit_test_framework -lboost_system -lSM -lICE -lX11 -lXext -lGL -lGLU /usr/lib/x86_64-linux-gnu/libQtOpenGL.so /usr/lib/x86_64-linux-gnu/libQtGui.so /usr/lib/x86_64-linux-gnu/libQtNetwork.so /usr/lib/x86_64-linux-gnu/libQtXml.so /usr/lib/x86_64-linux-gnu/libQtCore.so /home/florent/devel/test/install/lib/libPythonQt.so -lboost_python 
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyUnicodeUCS4_FromEncodedObject'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyNumber_InPlaceDivide'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_Size'
libgepetto-viewer.so: undefined reference to `PyString_FromStringAndSize'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_InternFromString'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyInt_AsLong'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyUnicodeUCS4_AsWideChar'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_AsString'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromFormat'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyClass_Type'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromString'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyFile_AsFile'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `Py_InitModule4_64'
libgepetto-viewer.so: undefined reference to `PyInt_Type'
libgepetto-viewer.so: undefined reference to `PyInt_FromLong'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyFile_FromString'
/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyNumber_Divide'
libgepetto-viewer.so: undefined reference to `PyString_Type'
collect2: error: ld returned 1 exit status

Missing plugins/CMakeLists.txt file

Hi,

gepetto-viewer/CMakeLists.txt

Line 161 in 0e80cda

ADD_SUBDIRECTORY(plugins)

So I think that either @jmirabel forgot to commit a file, or that we should instead include invidiual plugins.

Plugin loading

Hi,

Running gepetto-gui, with gepetto-viewer & gepetto-viewer-corba raised the following errors:

"omniorbserver.so" :  "The shared library was not found."
Plugin "omniorbserver.so" not loaded: "The shared library was not found."

This .so is available at /usr/lib/gepetto-gui-plugins, so setting QT_PLUGIN_PATH to this path fixed the issue for me.

But depending on how I build GV & GV-corba, this is sometimes required and sometimes not.

Without this QT_PLUGIN_PATH, how is the plugin system able to find the plugins ?

Citing Gepetto Viewer

Hi guys,
at Wandercraft we are using Gepetto Viewer for visualizing the robot movements. We are mentioning this in a paper and we would like to properly cite your work. However, I could not think of any good reference, nor I could find one by searching online.

As far as I remember there isn't any, but I still prefer to double-check with you: what's the most appropriate way to cite Gepetto Viewer? Should we just use a generic citation to the website?

@jmirabel, what do you recommend?

[question] Automated video recording

Hi all,
I was wondering whether there is a way to automatically record and save videos?

CMake Error at CMakeLists.txt:31 (INCLUDE)

Hi,

I am trying to setup in my Ubuntu 18.04. When cmake .. in my build folder, I am getting the following error:

CMake Error at CMakeLists.txt:31 (INCLUDE):
  INCLUDE could not find load file:

    cmake/base.cmake


CMake Error at CMakeLists.txt:32 (INCLUDE):
  INCLUDE could not find load file:

    cmake/boost.cmake


CMake Error at CMakeLists.txt:33 (INCLUDE):
  INCLUDE could not find load file:

    cmake/ide.cmake


CMake Error at CMakeLists.txt:34 (INCLUDE):
  INCLUDE could not find load file:

    cmake/apple.cmake


CMake Error at CMakeLists.txt:35 (INCLUDE):
  INCLUDE could not find load file:

    cmake/python.cmake


CMake Error at CMakeLists.txt:36 (INCLUDE):
  INCLUDE could not find load file:

    cmake/cxx-standard.cmake


CMake Error at CMakeLists.txt:40 (COMPUTE_PROJECT_ARGS):
  Unknown CMake command "COMPUTE_PROJECT_ARGS".


-- Configuring incomplete, errors occurred!

I checked the folder /my_workspace/src/gepetto-viewer/cmake and it is empty.

Thank you.

[Ubuntu 18.04] Movie recording broken (and GUI unreadable)

I just installed gepetto-gui from robotpkg and used the Movie record button - however, the status window looks like this:

On 18.04, avconv has become ffmpeg again - this may be the source of this issue?

Unrelated, the menu entries are all illegible until hovered

Massive scaling issue and random joint orientation

I can get the Talos robot to load fine. I've created my own urdf and srdf that loads in RViz2 fine but in Gepetto it's a jumble of links. It does load the links, but I have to zoom out as the model is about 40x or more larger than the talos model. In Blender the Talos STL and my STL/DAE models import as similar size so the models do not seem to be so different. Possibly the urdfdom is not respecting the STL units? (...but I dont really know what I'm talking about.)

The joint angles are also random. Possibly this will correct itself once the scale issue is resolved.

P.S. I looked on github, stackoverflow and looked for gepetto forum...is this the wrong place to post?

It looks like this in RVIz (Robot is kneeling)

gepetto-viewer and Jupyter Notebook

Hi,

I have installed gepetto-viewer and I can successfully use it as follows:

Run gepetto-gui on a terminal
run examples from crocoddyl either from terminal with python -m crocoddyl.examples.quadrupedal_gaits "display" "plot" # enable display and plot or from a python IDE within a venv.

As a result I can see the motion generated by the solvers.

However, when trying to run examples of crocoddyl in jupyter notebooks (while gepetto-gui is running on a terminal) gepetto-viewer is not working (like if the notebook cannot find the running gepetto-gui). E.g. when running the bipedal_walking.ipynb I get the following error:

---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
<ipython-input-9-8f57f921a9fe> in <module>()
     37 
     38 # Using the meshcat displayer, you could enable gepetto viewer for nicer view
---> 39 display = crocoddyl.GepettoDisplay(talos_legs, 4, 4, frameNames=[rightFoot, leftFoot])
     40 # display = crocoddyl.MeshcatDisplay(talos_legs, 4, 4, False)
     41 ddp.setCallbacks([crocoddyl.CallbackLogger(),

/opt/openrobots/lib/python2.7/site-packages/crocoddyl/__init__.pyc in __init__(self, robot, rate, freq, cameraTF, floor, frameNames, visibility)
     98             self.frameTrajColor[fr] = list(np.hstack([np.random.choice(range(256), size=3) / 256., 1.]))
     99 
--> 100         self._addRobot()
    101         self._setBackground()
    102         if cameraTF is not None:

/opt/openrobots/lib/python2.7/site-packages/crocoddyl/__init__.pyc in _addRobot(self)
    237         # Spawn robot model
    238         self.robot.initViewer(windowName="crocoddyl", loadModel=False)
--> 239         self.robot.loadViewerModel(rootNodeName="robot")
    240 
    241     def _setBackground(self):

/opt/openrobots/lib/python2.7/site-packages/pinocchio/robot_wrapper.pyc in loadViewerModel(self, *args, **kwargs)
    292     def loadViewerModel(self, *args, **kwargs):
    293         """Create the scene displaying the robot meshes in gepetto-viewer"""
--> 294         self.viz.loadViewerModel(*args, **kwargs)
    295 
    296     @deprecated("Use loadViewerModel")

/opt/openrobots/lib/python2.7/site-packages/pinocchio/visualize/gepetto_visualizer.pyc in loadViewerModel(self, rootNodeName)
    135 
    136         # Start a new "scene" in this window, named "world", with just a floor.
--> 137         gui = self.viewer.gui
    138         self.viewerRootNodeName = self.sceneName + "/" + rootNodeName
    139 

AttributeError: 'GepettoVisualizer' object has no attribute 'viewer'

I have installed jupyter from Anaconda for python 2.7 in my Ubuntu 18.04. I have installed gepetto-viewer with robotpkg-py27-qt5-gepetto-viewer-corba.

Any idea how to fix this?

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