gepetto-viewer.py

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# NOTE: this example needs gepetto-gui to be installed
# usage: launch gepetto-gui and then run this test

import pinocchio as pin
import numpy as np
import sys
import os
from os.path import dirname, join, abspath

from pinocchio.visualize import GepettoVisualizer

# Load the URDF model.
# Conversion with str seems to be necessary when executing this file with ipython
pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),"models")

model_path = join(pinocchio_model_dir,"example-robot-data/robots")
mesh_dir = pinocchio_model_dir
urdf_filename = "talos_reduced.urdf"
urdf_model_path = join(join(model_path,"talos_data/robots"),urdf_filename)

model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
viz = GepettoVisualizer(model, collision_model, visual_model)

# 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)