sample-model-viewer.py

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import pinocchio as pin
from pinocchio.visualize import MeshcatVisualizer, GepettoVisualizer, RVizVisualizer
from sys import argv
from numpy import pi
 
try:
    # Python 2
    input = raw_input  # noqa
except NameError:
    pass
 
# 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
    q[23] = -pi / 2
    q[29] = pi / 2
 
    viz.display(q)
 
    input("Press enter to exit...")