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)