visual_model = geom_model
viz = GepettoVisualizer(model, geom_model, visual_model)
# Initialize the viewer.
try:
viz.initViewer()
except ImportError as err:
print(
"Error while initializing the viewer. It seems you should install gepetto-viewer"
)
print(err)
sys.exit(0)
try:
viz.loadViewerModel("pinocchio")
except AttributeError as err:
print(
"Error while loading the viewer model. It seems you should start gepetto-viewer"
)
print(err)
sys.exit(0)
# Display a robot configuration.
q0 = pin.neutral(model)
viz.display(q0)
# Play a bit with the simulation
dt = 0.01
T = 5
model, collision_model, visual_model = pin.buildModelsFromUrdf(
urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
viz = GepettoVisualizer(model, collision_model, visual_model)
# Initialize the viewer.
try:
viz.initViewer()
except ImportError as err:
print(
"Error while initializing the viewer. It seems you should install gepetto-viewer"
)
print(err)
sys.exit(0)
try:
viz.loadViewerModel("pinocchio")
except AttributeError as err:
print(
"Error while loading the viewer model. It seems you should start gepetto-viewer"
)
print(err)
sys.exit(0)
# Display a robot configuration.
q0 = pin.neutral(model)
viz.display(q0)
# Display another robot.
viz2 = GepettoVisualizer(model, collision_model, visual_model)
viz2.initViewer(viz.viewer)
viz2.loadViewerModel(rootNodeName="pinocchio2")
except NameError:
pass
# Load the URDF model.
# Conversion with str seems to be necessary when executing this file with ipython
current_path = str(os.path.dirname(os.path.abspath(__file__)))
model_path = str(os.path.abspath(os.path.join(current_path, '../../models/romeo')))
mesh_dir = model_path
urdf_model_path = str(os.path.abspath(os.path.join(model_path, 'romeo_description/urdf/romeo_small.urdf')))
model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
display = GepettoVisualizer(model, collision_model, visual_model)
# Initialize the display.
display.initViewer()
display.loadViewerModel("pinocchio")
# Display a robot configuration.
q0 = np.matrix([
0, 0, 0.840252, 0, 0, 0, 1, # Free flyer
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # left leg
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # right leg
0, # chest
1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, # left arm
0, 0, 0, 0, # head
1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2, # right arm
]).T
display.display(q0)
input("Displaying a single robot configuration. Press enter to continue")