remove C++ visualizer

ohtsukalab · Oct 29, 2022 · 2f4a3f9 · 2f4a3f9
1 parent c0cee91
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Showing 18 changed files with 7 additions and 702 deletions.
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -43,21 +43,6 @@ jobs:
           sudo apt install -qqy robotpkg-py310-pinocchio
           sudo apt install -qqy robotpkg-py310-qt5-gepetto-viewer
           sudo apt install -qqy robotpkg-py310-qt5-gepetto-viewer-corba
-      - name: Install pinocchio-gepetto-viewer
-        run: |
-          export PATH=/opt/openrobots/bin:$PATH >> ~/.bashrc
-          export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH 
-          export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH 
-          export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages:$PYTHONPATH 
-          export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH 
-          export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH 
-          git clone https://github.com/stack-of-tasks/pinocchio-gepetto-viewer.git --recursive
-          cd pinocchio-gepetto-viewer
-          mkdir build
-          cd build
-          cmake .. -DCMAKE_BUILD_TYPE=Release
-          sudo make install
-          cd ../..
       - name: Install lcov
         run: |
           sudo apt-get update -y
@@ -72,7 +57,7 @@ jobs:
           export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH 
           export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH 
           mkdir -p build  && cd build
-          cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_VIEWER=ON -DBUILD_TESTS=ON
+          cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON
           cmake --build . --config Debug 
           ctest --output-on-failure
       - name: Collect and upload coverage to Codecov

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -13,7 +13,6 @@ endif()
 ## Options ##
 #############
 option(OPTIMIZE_FOR_NATIVE "Enable -march=native" OFF)
-option(BUILD_VIEWER "Build trajectory viewer" OFF)
 option(BUILD_TESTS "Build unit tests" OFF)
 option(BUILD_PYTHON_INTERFACE "Build Python interface" ON)
 
@@ -33,8 +32,6 @@ find_package(OpenMP REQUIRED)
 # build robotoc 
 file(GLOB_RECURSE ${PROJECT_NAME}_SOURCES src/*.cpp)
 file(GLOB_RECURSE ${PROJECT_NAME}_HEADERS include/${PROJECT_NAME}/*.h*)
-list(FILTER ${PROJECT_NAME}_SOURCES EXCLUDE REGEX ".trajectory_viewer.")
-list(FILTER ${PROJECT_NAME}_HEADERS EXCLUDE REGEX ".trajectory_viewer.")
 add_library(
   ${PROJECT_NAME} 
   SHARED
@@ -85,29 +82,6 @@ if (MACOSX)
   )
 endif()
 
-##################
-## Build viewer ##
-##################
-if (BUILD_VIEWER) 
-  find_package(PkgConfig)
-  pkg_check_modules(pinocchio-gepetto-viewer REQUIRED pinocchio-gepetto-viewer)
-  target_sources(
-    ${PROJECT_NAME} 
-    PRIVATE
-    src/utils/trajectory_viewer.cpp
-  )
-  target_link_libraries(
-    ${PROJECT_NAME} 
-    PUBLIC
-    ${pinocchio-gepetto-viewer_LINK_LIBRARIES}
-  )
-  target_include_directories(
-    ${PROJECT_NAME} 
-    PUBLIC
-    ${pinocchio-gepetto-viewer_INCLUDE_DIRS}
-  )
-endif() # end if (BUILD_VIEWER)
-
 #############
 ## Testing ##
 #############

diff --git a/README.md b/README.md
@@ -25,7 +25,6 @@
 - Eigen3, [Pinocchio](https://stack-of-tasks.github.io/pinocchio/download.html)  , 
 - Python3, NumPy (for Python binding)
 - [gepetto-viewer-corba](https://github.com/Gepetto/gepetto-viewer-corba.git) and/or [meshcat-python](https://github.com/rdeits/meshcat-python) (optional to visualize the solution trajectory in Python) 
-- [pinocchio-gepetto-viewer](https://github.com/stack-of-tasks/pinocchio-gepetto-viewer) (optional to visualize the solution trajectory in C++) 
 - [PyBullet](https://pybullet.org/wordpress/) (optional to simulate MPC examples)
 
 ## Installation 
@@ -64,24 +63,12 @@ and/or [meshcat-python](https://github.com/rdeits/meshcat-python) by
 pip install meshcat
 ```
 
-6. If you want to visualize the solution trajectory with C++, in addition to [gepetto-viewer-corba](https://github.com/Gepetto/gepetto-viewer-corba.git), you have to install [pinocchio-gepetto-viewer](https://github.com/stack-of-tasks/pinocchio-gepetto-viewer), e.g., by
-```
-git clone https://github.com/stack-of-tasks/pinocchio-gepetto-viewer.git --recursive && cd pinocchio-gepetto-viewer
-mkdir build && cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make install
-```
-and add the CMake option for `robotoc` as 
-```
-cmake .. -DBUILD_VIEWER=ON
-```
-
-7. If you do not want to install the Python bindings, change the CMake configuration as
+6. If you do not want to install the Python bindings, change the CMake configuration as
 ```
 cmake .. -DBUILD_PYTHON_INTERFACE=OFF
 ```
 
-8. In OSX, explicitly set g++ as the complier. First, find the path of g++ as 
+7. In OSX, explicitly set g++ as the complier. First, find the path of g++ as 
 ```
 ls -l /usr/local/bin | grep g++
 ```

diff --git a/bindings/python/robotoc/utils/trajectory_viewer.py b/bindings/python/robotoc/utils/trajectory_viewer.py
@@ -60,7 +60,7 @@ def __init__(self, model_info: robotoc.RobotModelInfo, pkg_path=None, viewer_typ
                                          self.robot.collision_model, 
                                          self.robot.visual_model)
         else:
-            print('Please choose viewer_type from "gepetto" or "meshcat"!')
+            print('Please choose viewer_type from "gepetto", "meshcat", or "rviz"!')
             return NotImplementedError()
 
 

diff --git a/doc/installation.dox b/doc/installation.dox
@@ -33,16 +33,7 @@ and/or [meshcat-python](https://github.com/rdeits/meshcat-python) by
 pip install meshcat
 ```
 
-\section install_cpp_viewer 3. (Optional) Install pinocchio-gepetto-viewer
-If you want to visualize the solution trajectory with C++, in addition to [gepetto-viewer-corba](https://github.com/Gepetto/gepetto-viewer-corba.git), you have to install  [pinocchio-gepetto-viewer](https://github.com/stack-of-tasks/pinocchio-gepetto-viewer), e.g., by
-```
-git clone https://github.com/stack-of-tasks/pinocchio-gepetto-viewer.git --recursive && cd pinocchio-gepetto-viewer
-mkdir build && cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make install
-```
-
-\section install_robotoc 4. Install robotoc
+\section install_robotoc 3. Install robotoc
 Clone `robotoc` repository and change the directory as
 
 ```
@@ -66,19 +57,13 @@ cmake .. -DCMAKE_BUILD_TYPE=Release -DOPTIMIZE_FOR_NATIVE=ON
 
 This option enables the vectorization of Eigen.
 
-If you want to visualize the solution trajectory through C++, add the CMake option as 
-
-```
-cmake .. -DBUILD_VIEWER=ON
-```
-
 If you do not want to install the Python bindings, change the CMake configuration as
 ```
 cmake .. -DBUILD_PYTHON_INTERFACE=OFF
 ```
 However, we highly recommend installing Python bindings.
 
-\section add_python_path 5. (Optional, but recommended) Adding Python path
+\section add_python_path 4. (Optional, but recommended) Adding Python path
 After installing `robotoc` and its Python bindings, it is convenient to set the path to `robotoc` library in Python path.
 Suppose that the Python version is 3.8. The Python bindings will then be installed at `ROBOTOC_INSTALL_DIR/lib/python3.8/site-packages` where `ROBOTOC_INSTALL_DIR` is the install directory of `robotoc` configured in CMake (e.g., by `-DCMAKE_INSTALL_PREFIX` or `/use/local/lib` if you did `sudo make install`).
 To use the installed Python library, it is convenient to set the environment variable as
@@ -89,7 +74,7 @@ export PYTHONPATH=ROBOTOC_INSTALL_DIR/lib/python3.8/site-packages:$PYTHONPATH
 
 e.g., in `~/.bashrc`. Note that if you use another Python version than `python3.8`, please adapt it.
 
-\section install_pybullet 6. (Optional, but recommended) Install pybullet 
+\section install_pybullet 5. (Optional, but recommended) Install pybullet 
 To use `robotoc_sim` module for MPC simulations, please install [PyBullet](https://pybullet.org/wordpress/) as 
 ```
 pip install pybullet

diff --git a/examples/anymal/CMakeLists.txt b/examples/anymal/CMakeLists.txt
@@ -5,8 +5,6 @@ set(CMAKE_CXX_STANDARD 11)
 
 find_package(robotoc REQUIRED)
 
-option(ENABLE_VIEWER "Enable trajectory viewer" OFF)
-
 macro(add_benchmark BENCHMARK)
   add_executable(
     ${BENCHMARK} 
@@ -29,13 +27,6 @@ macro(add_example EXAMPLE)
     PRIVATE
     robotoc::robotoc
   )
-  if (ENABLE_VIEWER)
-    target_compile_definitions(
-      ${EXAMPLE} 
-      PRIVATE
-      ENABLE_VIEWER    
-    )
-  endif()
 endmacro()
 
 add_benchmark(ocp_benchmark)
@@ -46,5 +37,4 @@ add_example(pace)
 add_example(bounce)
 add_example(jump)
 add_example(run)
-
 add_example(jump_sto)
diff --git a/examples/anymal/bounce.cpp b/examples/anymal/bounce.cpp
@@ -25,10 +25,6 @@
 
 #include "robotoc/utils/ocp_benchmarker.hpp"
 
-#ifdef ENABLE_VIEWER
-#include "robotoc/utils/trajectory_viewer.hpp"
-#endif 
-
 
 int main(int argc, char *argv[]) {
   robotoc::RobotModelInfo model_info;
@@ -245,13 +241,5 @@ int main(int argc, char *argv[]) {
   // const int num_iteration = 10000;
   // robotoc::benchmark::CPUTime(ocp_solver, t, q, v, num_iteration);
 
-#ifdef ENABLE_VIEWER
-  robotoc::TrajectoryViewer viewer(path_to_urdf, robotoc::BaseJointType::FloatingBase);
-  const auto time_discretization = ocp_solver.getTimeDiscretization();
-  const auto time_steps = time_discretization .timeSteps();
-  viewer.display(robot, ocp_solver.getSolution("q"), 
-                 ocp_solver.getSolution("f", "WORLD"), time_steps, mu);
-#endif 
-
   return 0;
 }
diff --git a/examples/anymal/crawl.cpp b/examples/anymal/crawl.cpp
@@ -25,10 +25,6 @@
 
 #include "robotoc/utils/ocp_benchmarker.hpp"
 
-#ifdef ENABLE_VIEWER
-#include "robotoc/utils/trajectory_viewer.hpp"
-#endif 
-
 
 int main(int argc, char *argv[]) {
   robotoc::RobotModelInfo model_info;
@@ -265,13 +261,5 @@ int main(int argc, char *argv[]) {
   // const int num_iteration = 10000;
   // robotoc::benchmark::CPUTime(ocp_solver, t, q, v, num_iteration);
 
-#ifdef ENABLE_VIEWER
-  robotoc::TrajectoryViewer viewer(path_to_urdf, robotoc::BaseJointType::FloatingBase);
-  const auto time_discretization = ocp_solver.getTimeDiscretization();
-  const auto time_steps = time_discretization.timeSteps();
-  viewer.display(robot, ocp_solver.getSolution("q"), 
-                 ocp_solver.getSolution("f", "WORLD"), time_steps, mu);
-#endif 
-
   return 0;
 }
diff --git a/examples/anymal/jump.cpp b/examples/anymal/jump.cpp
@@ -25,10 +25,6 @@
 
 #include "robotoc/utils/ocp_benchmarker.hpp"
 
-#ifdef ENABLE_VIEWER
-#include "robotoc/utils/trajectory_viewer.hpp"
-#endif 
-
 
 int main(int argc, char *argv[]) {
   robotoc::RobotModelInfo model_info;
@@ -194,13 +190,5 @@ int main(int argc, char *argv[]) {
   // const int num_iteration = 10000;
   // robotoc::benchmark::CPUTime(ocp_solver, t, q, v, num_iteration);
 
-#ifdef ENABLE_VIEWER
-  robotoc::TrajectoryViewer viewer(path_to_urdf, robotoc::BaseJointType::FloatingBase);
-  const auto time_discretization = ocp_solver.getTimeDiscretization();
-  const auto time_steps = time_discretization.timeSteps();
-  viewer.display(robot, ocp_solver.getSolution("q"), 
-                 ocp_solver.getSolution("f", "WORLD"), time_steps, mu);
-#endif 
-
   return 0;
 }
diff --git a/examples/anymal/jump_sto.cpp b/examples/anymal/jump_sto.cpp
@@ -27,10 +27,6 @@
 
 #include "robotoc/utils/ocp_benchmarker.hpp"
 
-#ifdef ENABLE_VIEWER
-#include "robotoc/utils/trajectory_viewer.hpp"
-#endif 
-
 
 int main(int argc, char *argv[]) {
   robotoc::RobotModelInfo model_info;
@@ -187,13 +183,5 @@ int main(int argc, char *argv[]) {
   // const int num_iteration = 10000;
   // robotoc::benchmark::CPUTime(ocp_solver, t, q, v, num_iteration);
 
-#ifdef ENABLE_VIEWER
-  robotoc::TrajectoryViewer viewer(path_to_urdf, robotoc::BaseJointType::FloatingBase);
-  const auto time_discretization = ocp_solver.getTimeDiscretization();
-  const auto time_steps = time_discretization.timeSteps();
-  viewer.display(robot, ocp_solver.getSolution("q"), 
-                 ocp_solver.getSolution("f", "WORLD"), time_steps, mu);
-#endif 
-
   return 0;
 }
diff --git a/examples/anymal/pace.cpp b/examples/anymal/pace.cpp
@@ -25,10 +25,6 @@
 
 #include "robotoc/utils/ocp_benchmarker.hpp"
 
-#ifdef ENABLE_VIEWER
-#include "robotoc/utils/trajectory_viewer.hpp"
-#endif 
-
 
 int main(int argc, char *argv[]) {
   robotoc::RobotModelInfo model_info;
@@ -245,13 +241,5 @@ int main(int argc, char *argv[]) {
   // const int num_iteration = 10000;
   // robotoc::benchmark::CPUTime(ocp_solver, t, q, v, num_iteration);
 
-#ifdef ENABLE_VIEWER
-  robotoc::TrajectoryViewer viewer(path_to_urdf, robotoc::BaseJointType::FloatingBase);
-  const auto time_discretization = ocp_solver.getTimeDiscretization();
-  const auto time_steps = time_discretization.timeSteps();
-  viewer.display(robot, ocp_solver.getSolution("q"), 
-                 ocp_solver.getSolution("f", "WORLD"), time_steps, mu);
-#endif 
-
   return 0;
 }
diff --git a/examples/anymal/run.cpp b/examples/anymal/run.cpp
@@ -22,10 +22,6 @@
 
 #include "robotoc/utils/ocp_benchmarker.hpp"
 
-#ifdef ENABLE_VIEWER
-#include "robotoc/utils/trajectory_viewer.hpp"
-#endif 
-
 
 class ConfigurationSpaceRef final : public robotoc::ConfigurationSpaceRefBase {
 public:
@@ -322,22 +318,5 @@ int main(int argc, char *argv[]) {
   // const int num_iteration = 10000;
   // robotoc::benchmark::CPUTime(ocp_solver, t, q, v, num_iteration);
 
-#ifdef ENABLE_VIEWER
-  robotoc::TrajectoryViewer viewer(path_to_urdf, robotoc::BaseJointType::FloatingBase);
-  const auto time_discretization = ocp_solver.getTimeDiscretization();
-  const auto time_steps = time_discretization.timeSteps();
-  Eigen::Vector3d camera_pos;
-  Eigen::Vector4d camera_quat;
-  camera_pos << 0.119269, -7.96283, 1.95978;
-  camera_quat << 0.609016, 0.00297497, 0.010914, 0.793077;
-  viewer.setCameraTransform(camera_pos, camera_quat);
-  viewer.display(ocp_solver.getSolution("q"), time_steps);
-  camera_pos << 5.10483, -3.98692, 1.59321;
-  camera_quat << 0.547037, 0.243328, 0.314829, 0.736495;
-  viewer.setCameraTransform(camera_pos, camera_quat);
-  viewer.display(robot, ocp_solver.getSolution("q"), 
-                 ocp_solver.getSolution("f", "WORLD"), time_steps, mu);
-#endif 
-
   return 0;
 }
diff --git a/examples/anymal/trot.cpp b/examples/anymal/trot.cpp
@@ -25,10 +25,6 @@
 
 #include "robotoc/utils/ocp_benchmarker.hpp"
 
-#ifdef ENABLE_VIEWER
-#include "robotoc/utils/trajectory_viewer.hpp"
-#endif 
-
 
 int main(int argc, char *argv[]) {
   robotoc::RobotModelInfo model_info;
@@ -246,13 +242,5 @@ int main(int argc, char *argv[]) {
   // const int num_iteration = 10000;
   // robotoc::benchmark::CPUTime(ocp_solver, t, q, v, num_iteration);
 
-#ifdef ENABLE_VIEWER
-  robotoc::TrajectoryViewer viewer(path_to_urdf, robotoc::BaseJointType::FloatingBase);
-  const auto time_discretization = ocp_solver.getTimeDiscretization();
-  const auto time_steps = time_discretization.timeSteps();
-  viewer.display(robot, ocp_solver.getSolution("q"), 
-                 ocp_solver.getSolution("f", "WORLD"), time_steps, mu);
-#endif 
-
   return 0;
 }