Add Candlewick runtime (executable)

examples/Visualizer.cpp

@@ -10,24 +10,33 @@
 #include <CLI/Formatter.hpp>
 #include <CLI/Config.hpp>
 
+namespace cdw = candlewick;
 using namespace candlewick::multibody;
 using std::chrono::steady_clock;
 
 int main(int argc, char **argv) {
   CLI::App app{"Visualizer example"};
   argv = app.ensure_utf8(argv);
+  std::vector<Uint32> window_dims{1920u, 1080u};
   double fps;
+
+  app.add_option("--dims", window_dims, "Window dimensions.")
+      ->capture_default_str();
   app.add_option<double, unsigned int>("--fps", fps, "Framerate")
       ->default_val(60);
 
   CLI11_PARSE(app, argc, argv);
 
+  if (window_dims.size() != 2) {
+    cdw::terminate_with_message("Expected only two values for argument --dims");
+  }
+
   pin::Model model;
   pin::GeometryModel geom_model;
   robot_descriptions::loadModelsFromToml("ur.toml", "ur5_gripper", model,
                                          &geom_model, NULL);
 
-  Visualizer visualizer{{1920, 1280}, model, geom_model};
+  Visualizer visualizer{{window_dims[0], window_dims[1]}, model, geom_model};
   assert(!visualizer.hasExternalData());
   visualizer.addFrameViz(model.getFrameId("elbow_joint"));
   visualizer.addFrameViz(model.getFrameId("ee_link"));

src/CMakeLists.txt

@@ -1,5 +1,7 @@
 # Copyright (c) 2024-2025 ManifoldFR
 
+find_package(ZeroMQ REQUIRED)
+
 add_library(
   candlewick_core
   SHARED
@@ -111,6 +113,13 @@ if(BUILD_PINOCCHIO_VISUALIZER)
     INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   )
+
+  find_package(cppzmq)
+  add_executable(candlewick_visualizer candlewick/runtime/main.cpp)
+  target_link_libraries(
+    candlewick_visualizer
+    PRIVATE cppzmq candlewick_multibody
+  )
 endif()
 
 # install headers

src/candlewick/multibody/VisualizerClient.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include "Multibody.h"
+#include <pinocchio/visualizers/base-visualizer.hpp>
+#include <zmq.h>
+
+namespace candlewick {
+namespace multibody {
+  class VisualizerClient final : public pin::visualizers::BaseVisualizer {
+  public:
+  };
+} // namespace multibody
+} // namespace candlewick

src/candlewick/runtime/main.cpp

@@ -0,0 +1,63 @@
+#include <zmq.hpp>
+#include <zmq_addon.hpp>
+#include "candlewick/multibody/Multibody.h"
+#include "candlewick/multibody/Visualizer.h"
+
+#include <pinocchio/serialization/model.hpp>
+#include <pinocchio/serialization/geometry.hpp>
+
+#include <CLI/App.hpp>
+#include <CLI/Formatter.hpp>
+#include <CLI/Config.hpp>
+
+namespace cdw = candlewick;
+namespace pin = pinocchio;
+using cdw::multibody::Visualizer;
+
+int main(int argc, char **argv) {
+  CLI::App app{"Candlewick visualizer runtime"};
+  argv = app.ensure_utf8(argv);
+
+  std::vector<Uint32> window_dims{1920u, 1080u};
+  app.add_option("--dims", window_dims, "Window dimensions.")
+      ->capture_default_str();
+
+  CLI11_PARSE(app, argc, argv);
+
+  if (window_dims.size() != 2) {
+    cdw::terminate_with_message("Expected only two values for argument --dims");
+  }
+
+  zmq::context_t ctx;
+  zmq::socket_t sock{ctx, zmq::socket_type::pull};
+  sock.bind("tcp://127.0.0.1:12000");
+  const std::string endpoint = sock.get(zmq::sockopt::last_endpoint);
+  printf("ZMQ endpoint: %s\n", endpoint.c_str());
+
+  pin::Model model;
+  pin::GeometryModel geom_model;
+
+  std::vector<zmq::message_t> recv_models;
+
+  printf("Receiving Model and GeometryModel...\n");
+
+  const auto ret = zmq::recv_multipart(sock, std::back_inserter(recv_models));
+  assert(*ret == 2);
+  printf("Received %zu messages\n", ret.value());
+
+  model.loadFromString(recv_models[0].to_string());
+  geom_model.loadFromString(recv_models[1].to_string());
+
+  Visualizer::Config config;
+  config.width = window_dims[0];
+  config.height = window_dims[1];
+  Visualizer viz{config, model, geom_model};
+
+  Eigen::VectorXd q0 = pin::neutral(model);
+
+  while (!viz.shouldExit()) {
+    viz.display(q0);
+  }
+
+  return 0;
+}

tests/test_client.py

@@ -0,0 +1,19 @@
+import pinocchio as pin
+import example_robot_data as erd
+import zmq
+
+
+PORT = 12000
+
+ctx = zmq.Context.instance()
+sock: zmq.Socket = ctx.socket(zmq.SocketType.PUSH)
+sock.connect(f"tcp://127.0.0.1:{PORT}")
+
+robot: pin.RobotWrapper = erd.load("solo12")
+model = robot.model
+geom_model = robot.visual_model
+
+model_str = model.saveToString()
+geom_str = geom_model.saveToString()
+sock.send_multipart([model_str.encode(), geom_str.encode()])
+print("Sent")