Skeleton Viewer: A basic GUI

This example demonstrates how to load a skeleton, and visualize it using GUI. The following screenshot is the result of the following command.

python view_skeleton.py data/sdf/atlas/atlas_v3_no_head.sdf

Note: you need to rotate the camera using drag, shift-drag, and control-drag.

Screenshot

../_images/view_skeleton.png

Code

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
 if __name__ == '__main__':
     import sys
     import pydart2 as pydart

     if len(sys.argv) != 2:
         print("Usage: view_skeleton.py [*.urdf/*.sdf]")
         exit(0)

     skel_path = sys.argv[1]
     print("skeleton path = %s" % skel_path)

     pydart.init()
     print("Pydart init OK")

     world = pydart.World(1.0 / 1000.0)
     print("World init OK")

     skel = world.add_skeleton(skel_path)
     print("Skeleton add OK")

     print("Camera:")
     print("    drag: rotate camera")
     print("    shift-drag: zoom camera")
     print("    control-drag: translate camera")

     pydart.gui.viewer.launch(world)