# 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")
q = q0.copy()
q[1] = 1.0
viz2.display(q)
color[3] = 1
geom_obj.meshColor = color
geom_model.addGeometryObject(geom_obj)
viz = GepettoVisualizer(
model=model,
collision_model=geom_model,
visual_model=geom_model,
)
# Initialize the viewer.
try:
viz.initViewer()
except ImportError as error:
print(
"Error while initializing the viewer. It seems you should install gepetto-viewer"
)
print(error)
sys.exit(0)
try:
viz.loadViewerModel("shapes")
except AttributeError as error:
print(
"Error while loading the viewer model. It seems you should start gepetto-viewer"
)
print(error)
sys.exit(0)
viz.display(np.zeros(0))
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")
# Display another robot.
display2 = GepettoVisualizer(model, collision_model, visual_model)
display2.initViewer(display.viewer)
display2.loadViewerModel(rootNodeName="pinocchio2")
q = q0.copy()
q[1] = 1.0
display2.display(q)
input("Displaying a second robot. Press enter to exit")