3 import pinocchio
as pin
8 print(
"This example requires hppfcl")
14 geom_model = pin.GeometryModel()
16 hppfcl.Capsule(0.1, 0.8),
19 hppfcl.Cylinder(0.1, 1.0),
20 hppfcl.Cone(0.5, 1.0),
22 for i, geom
in enumerate(geometries):
23 placement = pin.SE3(np.eye(3), np.array([i, 0, 0]))
24 geom_obj = pin.GeometryObject(
"obj{}".format(i), 0, 0, geom, placement)
25 color = np.random.uniform(0, 1, 4)
27 geom_obj.meshColor = color
28 geom_model.addGeometryObject(geom_obj)
34 viz.initViewer(open=
True)
35 except ImportError
as error:
40 viz.loadViewerModel(
"shapes")
41 except AttributeError
as error:
45 viz.display(np.zeros(0))
46 input(
"press enter to continue")