Graphical Interface for Pinocchio and hpp

Setup Conda Environment

To try this package in an conda environment without compiling:

conda install gepetto-viewer gepetto-viewer-corba -c conda-forge

After installation, you can launch the viewer from a terminal with:

gepetto-gui

Compilation Instructions

To compile this package, it is recommended to create a separate build directory:

mkdir _build && cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

Dependencies

The Graphical Interface software depends on several packages which have to be available on your machine.

• Libraries:
  • Qt 4 or 5
  • openscenegraph (version >= 3.2.0)
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)

Optional dependencies

• PythonQt: add a Python scripting interface to gepetto-viewer. The dependency can be made mandatory with CMake variable GEPETTO_GUI_HAS_PYTHONQT. When PythonQt is available:
  • QGV: for the bindings of QGV in the Python interface. The dependency can be made mandatory with CMake variable BUILD_PY_QGV.
  • QCustomPlot: for the bindings of QCustomPlot in the Python interface. The dependency can be made mandatory with CMake variable BUILD_PY_QCUSTOM_PLOT.

Environment variables and plugins

When launching gepetto-gui the program tries to load the plugin omniorbserver.so. In order to specify the default path of the plugins, the variable GEPETTO_GUI_PLUGIN_DIRS can be set using the following command:

export GEPETTO_GUI_PLUGIN_DIRS=${CMAKE_INSTALL_PREFIX}/lib