5 import pinocchio
as pin
9 from os.path import dirname, join, abspath
15 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),
"models")
17 model_path = join(pinocchio_model_dir,
"example-robot-data/robots")
18 mesh_dir = pinocchio_model_dir
19 urdf_filename =
"romeo_small.urdf"
20 urdf_model_path = join(join(model_path,
"romeo_description/urdf"), urdf_filename)
22 model, collision_model, visual_model = pin.buildModelsFromUrdf(
23 urdf_model_path, mesh_dir, pin.JointModelFreeFlyer()
27 for geom
in visual_model.geometryObjects:
41 viz.initViewer(open=
True)
42 except ImportError
as err:
44 "Error while initializing the viewer. It seems you should install Python meshcat"
52 viz.loadViewerModel(color=[0.0, 0.0, 0.0, 1.0])
101 red_robot_viz.initViewer(viz.viewer)
102 red_robot_viz.loadViewerModel(rootNodeName=
"red_robot", color=[1.0, 0.0, 0.0, 0.5])
105 red_robot_viz.display(q)