# 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")