From 42f5f4b88eaaa793f17996484a52e56f948df227 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Wed, 25 Oct 2023 14:08:29 +0200
Subject: [PATCH] visualization in gepetto works in c++ as well
---
clik/CMakeLists.txt | 4 +-
clik/build/CMakeCache.txt | 90 +-
clik/build/CMakeFiles/CMakeConfigureLog.yaml | 168 +
clik/build/CMakeFiles/Makefile.cmake | 73 +
clik/build/CMakeFiles/Progress/1 | 1 -
clik/build/CMakeFiles/Progress/count.txt | 1 -
.../clik.dir/compiler_depend.internal | 2503 ++++++
.../CMakeFiles/clik.dir/compiler_depend.make | 7500 ++++++++++++++++-
clik/build/CMakeFiles/clik.dir/link.txt | 2 +-
clik/build/CMakeFiles/clik.dir/src/clik.cpp.o | Bin 0 -> 850784 bytes
.../CMakeFiles/clik.dir/src/clik.cpp.o.d | 7 +
clik/build/clik | Bin 470072 -> 511672 bytes
clik/src/clik.cpp | 31 +-
docs/gepetto.md | 7 +
14 files changed, 10373 insertions(+), 14 deletions(-)
delete mode 100644 clik/build/CMakeFiles/Progress/1
delete mode 100644 clik/build/CMakeFiles/Progress/count.txt
create mode 100644 clik/build/CMakeFiles/clik.dir/compiler_depend.internal
create mode 100644 clik/build/CMakeFiles/clik.dir/src/clik.cpp.o
create mode 100644 docs/gepetto.md
diff --git a/clik/CMakeLists.txt b/clik/CMakeLists.txt
index b51ab99..e3311f4 100644
--- a/clik/CMakeLists.txt
+++ b/clik/CMakeLists.txt
@@ -49,8 +49,8 @@ target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::pinocchio)
#target_link_libraries(clik PUBLIC pinocchio::pinocchio)
## pinocchio-gepetto-viewer
-#find_package(pinocchio-gepetto-viewer REQUIRED)
-#target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::gepetto)
+find_package(pinocchio-gepetto-viewer REQUIRED)
+target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio-gepetto-viewer)
#add_library(${PROJECT_NAME}-core OBJECT ${CMAKE_CURRENT_SOURCE_DIR}/src/clik.cpp)
diff --git a/clik/build/CMakeCache.txt b/clik/build/CMakeCache.txt
index 2c84c85..a115ec6 100644
--- a/clik/build/CMakeCache.txt
+++ b/clik/build/CMakeCache.txt
@@ -38,6 +38,12 @@ Boost_LIBRARY_DIR_DEBUG:PATH=/usr/lib/x86_64-linux-gnu
//Boost library directory RELEASE
Boost_LIBRARY_DIR_RELEASE:PATH=/usr/lib/x86_64-linux-gnu
+//Boost python310 library (debug)
+Boost_PYTHON310_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_python310.so
+
+//Boost python310 library (release)
+Boost_PYTHON310_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_python310.so
+
//Boost serialization library (debug)
Boost_SERIALIZATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_serialization.so
@@ -261,6 +267,39 @@ ENFORCE_MINIMAL_CXX_STANDARD:BOOL=OFF
//The directory containing a CMake configuration file for Eigen3.
Eigen3_DIR:PATH=/usr/share/eigen3/cmake
+//Enable Debian-style Python package layout
+PYTHON_DEB_LAYOUT:BOOL=OFF
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=PYTHON_EXECUTABLE-NOTFOUND
+
+//Enable standard Python package layout
+PYTHON_STANDARD_LAYOUT:BOOL=OFF
+
+//The directory containing a CMake configuration file for Qt5Concurrent.
+Qt5Concurrent_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Concurrent
+
+//The directory containing a CMake configuration file for Qt5Core.
+Qt5Core_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Core
+
+//The directory containing a CMake configuration file for Qt5Gui.
+Qt5Gui_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Gui
+
+//The directory containing a CMake configuration file for Qt5Network.
+Qt5Network_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Network
+
+//The directory containing a CMake configuration file for Qt5OpenGL.
+Qt5OpenGL_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5OpenGL
+
+//The directory containing a CMake configuration file for Qt5Widgets.
+Qt5Widgets_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets
+
+//The directory containing a CMake configuration file for Qt5Xml.
+Qt5Xml_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Xml
+
+//The directory containing a CMake configuration file for Qt5.
+Qt5_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5
+
//The directory containing a CMake configuration file for boost_atomic.
boost_atomic_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_atomic-1.74.0
@@ -285,6 +324,12 @@ clik_SOURCE_DIR:STATIC=/home/gospodar/lund/praxis/ur_simple_control/clik
//The directory containing a CMake configuration file for console_bridge.
console_bridge_DIR:PATH=/usr/lib/x86_64-linux-gnu/console_bridge/cmake
+//The directory containing a CMake configuration file for gepetto-viewer-corba.
+gepetto-viewer-corba_DIR:PATH=/opt/openrobots/lib/cmake/gepetto-viewer-corba
+
+//The directory containing a CMake configuration file for gepetto-viewer.
+gepetto-viewer_DIR:PATH=/opt/openrobots/lib/cmake/gepetto-viewer
+
//The directory containing a CMake configuration file for hpp-fcl.
hpp-fcl_DIR:PATH=/opt/openrobots/lib/cmake/hpp-fcl
@@ -298,7 +343,7 @@ onelib:FILEPATH=/usr/lib/x86_64-linux-gnu/liburdfdom_world.so
onelibd:FILEPATH=onelibd-NOTFOUND
//The directory containing a CMake configuration file for pinocchio-gepetto-viewer.
-pinocchio-gepetto-viewer_DIR:PATH=pinocchio-gepetto-viewer_DIR-NOTFOUND
+pinocchio-gepetto-viewer_DIR:PATH=/usr/lib/cmake/pinocchio-gepetto-viewer
//The directory containing a CMake configuration file for pinocchio.
pinocchio_DIR:PATH=/opt/openrobots/lib/cmake/pinocchio
@@ -333,6 +378,10 @@ Boost_INCLUDE_DIR-ADVANCED:INTERNAL=1
Boost_LIBRARY_DIR_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_LIBRARY_DIR_RELEASE
Boost_LIBRARY_DIR_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_PYTHON310_LIBRARY_DEBUG
+Boost_PYTHON310_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_PYTHON310_LIBRARY_RELEASE
+Boost_PYTHON310_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_SERIALIZATION_LIBRARY_DEBUG
Boost_SERIALIZATION_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_SERIALIZATION_LIBRARY_RELEASE
@@ -489,9 +538,9 @@ CMAKE_UNAME:INTERNAL=/usr/bin/uname
//ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE
CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1
//Details about finding Boost
-FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/usr/include][cfound components: chrono serialization ][v1.74.0()]
+FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/usr/include][cfound components: python310 ][v1.74.0()]
//Components requested for this build tree.
-_Boost_COMPONENTS_SEARCHED:INTERNAL=chrono;filesystem;serialization;system
+_Boost_COMPONENTS_SEARCHED:INTERNAL=chrono;filesystem;python310;serialization;system
//Last used Boost_INCLUDE_DIR value.
_Boost_INCLUDE_DIR_LAST:INTERNAL=/usr/include
//Last used Boost_LIBRARY_DIR_DEBUG value.
@@ -507,6 +556,41 @@ _Boost_USE_STATIC_LIBS_LAST:INTERNAL=OFF
//linker supports push/pop state
_CMAKE_LINKER_PUSHPOP_STATE_SUPPORTED:INTERNAL=TRUE
_MINIMAL_CXX_STANDARD:INTERNAL=11
+//Path to a program.
+_Python2_CONFIG:INTERNAL=_Python2_CONFIG-NOTFOUND
+//Compiler reason failure
+_Python2_Compiler_REASON_FAILURE:INTERNAL=
+//Development reason failure
+_Python2_Development_REASON_FAILURE:INTERNAL=
+//Path to a program.
+_Python2_EXECUTABLE:INTERNAL=_Python2_EXECUTABLE-NOTFOUND
+//Path to a file.
+_Python2_INCLUDE_DIR:INTERNAL=_Python2_INCLUDE_DIR-NOTFOUND
+//Interpreter reason failure
+_Python2_Interpreter_REASON_FAILURE:INTERNAL=
+//Path to a library.
+_Python2_LIBRARY_RELEASE:INTERNAL=_Python2_LIBRARY_RELEASE-NOTFOUND
+//NumPy reason failure
+_Python2_NumPy_REASON_FAILURE:INTERNAL=
+//Compiler reason failure
+_Python3_Compiler_REASON_FAILURE:INTERNAL=
+_Python3_DEVELOPMENT_EMBED_SIGNATURE:INTERNAL=dda1c5a898074ddd86cc57d4f1aa6e4f
+_Python3_DEVELOPMENT_MODULE_SIGNATURE:INTERNAL=c5a4196440ec27af21f23fe28f108fb0
+//Development reason failure
+_Python3_Development_REASON_FAILURE:INTERNAL=
+//Path to a program.
+_Python3_EXECUTABLE:INTERNAL=/usr/bin/python3.10
+//Path to a file.
+_Python3_INCLUDE_DIR:INTERNAL=/usr/include/python3.10
+//Python3 Properties
+_Python3_INTERPRETER_PROPERTIES:INTERNAL=Python;3;10;12;64;;cpython-310-x86_64-linux-gnu;abi3;/usr/lib/python3.10;/usr/lib/python3.10;/usr/local/lib/python3.10/dist-packages;/usr/local/lib/python3.10/dist-packages
+_Python3_INTERPRETER_SIGNATURE:INTERNAL=61380851b1f49cd20124cec6c9ca8095
+//Interpreter reason failure
+_Python3_Interpreter_REASON_FAILURE:INTERNAL=
+//Path to a library.
+_Python3_LIBRARY_RELEASE:INTERNAL=/usr/lib/x86_64-linux-gnu/libpython3.10.so
+//NumPy reason failure
+_Python3_NumPy_REASON_FAILURE:INTERNAL=
//Result of TRY_COMPILE
_cxx_standard_build_status:INTERNAL=TRUE
//Result of try_run()
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index cd5bcae..4aa0d10 100644
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diff --git a/clik/src/clik.cpp b/clik/src/clik.cpp
index cbd32f5..a8db936 100644
--- a/clik/src/clik.cpp
+++ b/clik/src/clik.cpp
@@ -5,13 +5,17 @@
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/spatial/explog.hpp"
#include <Eigen/src/Core/Matrix.h>
+#include <fstream>
+#include <pinocchio/multibody/fcl.hpp>
#include <pinocchio/multibody/fwd.hpp>
+
#include <pinocchio/gepetto/viewer.hpp>
+#include <pinocchio/multibody/geometry.hpp>
+#include <pinocchio/spatial/spatial-axis.hpp>
#include <ur_rtde/rtde_control_interface.h>
#include <ur_rtde/rtde_receive_interface.h>
-#include <iostream>
// so that i can get my unique pointer
#include <memory>
@@ -20,12 +24,30 @@
int main(void) {
// load robot model from urdf (most common type of robot description file)
const std::string urdf_filename =
- std::string("/home/gospodar/lund/praxis/ur_resources/"
- "ur5e_with_robotiq_hande/urdf/ur5e_with_robotiq_hande.urdf");
+ //std::string("/home/gospodar/lund/praxis/ur_resources/"
+ // "ur5e_with_robotiq_hande/urdf/ur5e_with_robotiq_hande.urdf");
+ std::string("/home/gospodar/lund/praxis/ur_driver_humble_ws/src/Universal_Robots_ROS2_Description/urdf/ur5e.urdf");
+ const std::string mesh_dir =
+ std::string("/home/gospodar/lund/praxis/ur_driver_humble_ws/src/Universal_Robots_ROS2_Description/meshes/ur5e/");
+// FILE* urdf_file_stream = std::fopen(urdf_filename.c_str(), "r");
pinocchio::Model model;
pinocchio::urdf::buildModel(urdf_filename, model);
pinocchio::Data data(model);
+// viewer stuff
+// TODO will probably be wrapped in an if for whether you want it or not
+ pinocchio::GeometryModel visual_model;
+ pinocchio::urdf::buildGeom(model, urdf_filename, pinocchio::GeometryType::VISUAL, visual_model, mesh_dir);
+ pinocchio::GeometryModel collision_model;
+ pinocchio::urdf::buildGeom(model, urdf_filename, pinocchio::GeometryType::COLLISION, collision_model, mesh_dir);
+ pinocchio::gepetto::Viewer viewer(model, &visual_model, &collision_model);
+ viewer.initViewer("pinocchio");
+ viewer.loadViewerModel("ur5e");
+ viewer.addFrame(model.nframes -1);
+ //viewer.display(pinocchio::randomConfiguration(model));
+
+ //TODO add and compile the viewer so that it can be used here
+
// need to make these pointers so that i can have the object
// without calling the constructor
// unique pointer as i would otherwise use these variables directly
@@ -53,7 +75,7 @@ int main(void) {
Eigen::Vector3d(0.5, 0.3, 0.5));
const double eps = 1e-4;
const int IT_MAX = 10000000;
- const double DT = 1e-1;
+ const double DT = 1e-3;
const double damp = 1e-6;
// define manipulator jacobian
@@ -112,6 +134,7 @@ int main(void) {
} else {
q = pinocchio::integrate(model, q, v * DT);
}
+ viewer.display(q);
if (!(i % 10))
std::cout << i << ": error = " << err.transpose() << std::endl;
std::cout << "pos" << data.oMi[JOINT_ID] << std::endl;
diff --git a/docs/gepetto.md b/docs/gepetto.md
new file mode 100644
index 0000000..85a2c6f
--- /dev/null
+++ b/docs/gepetto.md
@@ -0,0 +1,7 @@
+## visualization with gepetto
+- https://github.com/Gepetto/gepetto-viewer is the link for more info
+- needs to be installed - just pip or apt gepetto-viewer or a similar name(s)
+- it needs to be ran with gepetto-gui - code api goes on existing instance
+- for c++ api https://github.com/stack-of-tasks/pinocchio-gepetto-viewer needs to be installed.
+ when compiling with cmake, you need to se the install prefix to /usr,
+ i.e. do cmake -DCMAKE_INSTALL_PREFIX=/usr when running cmake
--
GitLab