import pinocchio as se3
import numpy as np
import os
from pinocchio.robot_wrapper import RobotWrapper
# Warning : the paths are here hard-coded. This file is only here as an example
romeo_model_path = os.path.abspath(
os.path.join(current_file, '../models/romeo/romeo_description'))
romeo_model_file = romeo_model_path + "/urdf/romeo.urdf"
list_hints = [romeo_model_path, "titi"]
robot = RobotWrapper(romeo_model_file, list_hints, se3.JointModelFreeFlyer())
robot.initDisplay()
robot.loadDisplayModel("world/pinocchio")
q0 = np.matrix([
0,
0,
0.840252,
0,
0,
0,
1, # Free flyer
0,
0,
-0.3490658,
0.6981317,
-0.3490658,
0, # left leg
# NOTE: this example needs gepetto-gui to be installed
# usage: launch gepetto-gui and then run this test
import unittest
import pinocchio as se3
import numpy as np
import os
from pinocchio.robot_wrapper import RobotWrapper
current_file = os.path.dirname(os.path.abspath(__file__))
romeo_model_dir = os.path.abspath(os.path.join(current_file, '../../models/romeo'))
romeo_model_path = os.path.abspath(os.path.join(romeo_model_dir, 'romeo_description/urdf/romeo.urdf'))
hint_list = [romeo_model_dir, "wrong/hint"] # hint list
robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
robot.initDisplay()
robot.loadDisplayModel("pinocchio")
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
robot.display(q0)
