def test_all_sampled_models(self):
huamnoid_1 = pin.buildSampleModelHumanoidRandom()
huamnoid_2 = pin.buildSampleModelHumanoidRandom(True)
huamnoid_3 = pin.buildSampleModelHumanoidRandom(False)
self.assertTrue(huamnoid_1 != huamnoid_2)
self.assertTrue(huamnoid_1 != huamnoid_3)
manipulator_1 = pin.buildSampleModelManipulator()
if pin.WITH_HPP_FCL:
geometry_manipulator_1 = pin.buildSampleGeometryModelManipulator(
manipulator_1)
humanoid_4 = pin.buildSampleModelHumanoid()
humanoid_5 = pin.buildSampleModelHumanoid(True)
humanoid_6 = pin.buildSampleModelHumanoid(False)
self.assertTrue(humanoid_4 == humanoid_5)
self.assertTrue(humanoid_4 != humanoid_6)
if pin.WITH_HPP_FCL:
geometry_humanoid_2 = pin.buildSampleGeometryModelHumanoid(
humanoid_4)
def setUp(self):
self.model = pin.buildSampleModelHumanoid()
self.collision_model = pin.buildSampleGeometryModelHumanoid(self.model)
# GepettoVisualizer: -g
# MeshcatVisualizer: -m
VISUALIZER = None
if len(argv) > 1:
opt = argv[1]
if opt == '-g':
VISUALIZER = GepettoVisualizer
elif opt == '-m':
VISUALIZER = MeshcatVisualizer
elif opt == '-r':
VISUALIZER = RVizVisualizer
else:
raise ValueError("Unrecognized option: " + opt)
model = pin.buildSampleModelHumanoid()
visual_model = pin.buildSampleGeometryModelHumanoid(model)
collision_model = visual_model.copy()
q0 = pin.neutral(model)
if VISUALIZER:
viz = VISUALIZER(model, collision_model, visual_model)
viz.initViewer()
viz.loadViewerModel()
viz.display(q0)
input("Enter to check a new configuration")
q = q0.copy()
q[8] = pi / 2
q[14] = pi / 2
def setUp(self):
model = pin.buildSampleModelHumanoid()
self.collision_model = pin.buildSampleGeometryModelHumanoid(model)
def setUp(self):
model = se3.buildSampleModelHumanoid()
self.collision_model = se3.buildSampleGeometryModelHumanoid(model)