4 import pinocchio
as pin
8 from os.path import dirname, join, abspath
14 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),
"models")
16 model_path = join(pinocchio_model_dir,
"example-robot-data/robots")
17 mesh_dir = pinocchio_model_dir
18 urdf_filename =
"talos_reduced.urdf"
19 urdf_model_path = join(join(model_path,
"talos_data/robots"), urdf_filename)
21 model, collision_model, visual_model = pin.buildModelsFromUrdf(
22 urdf_model_path, mesh_dir, pin.JointModelFreeFlyer()
29 except ImportError
as err:
31 "Error while initializing the viewer. It seems you should install gepetto-viewer"
37 viz.loadViewerModel(
"pinocchio")
38 except AttributeError
as err:
40 "Error while loading the viewer model. It seems you should start gepetto-viewer"
46 q0 = pin.neutral(model)
51 viz2.initViewer(viz.viewer)
52 viz2.loadViewerModel(rootNodeName=
"pinocchio2")