panda3d-viewer-play.py

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# This examples shows how to load and move a robot in panda3d_viewer.
# Note: this feature requires panda3d_viewer to be installed, this can be done using
# pip install panda3d_viewer
 
 
import sys
import numpy as np
from os.path import dirname, join, abspath
 
# Add path to the example-robot-data package
path = join(
    dirname(dirname(abspath(__file__))), "models", "example-robot-data", "python"
)
sys.path.append(path)
from example_robot_data.robots_loader import TalosLoader
 
from panda3d_viewer import ViewerClosedError
from pinocchio.visualize.panda3d_visualizer import Panda3dVisualizer
 
# talos is a RobotWrapper object
talos = TalosLoader().robot
# Attach talos to the viewer scene
talos.setVisualizer(Panda3dVisualizer())
talos.initViewer()
talos.loadViewerModel(group_name="talos", color=(1, 1, 1, 1))
 
 
# Play a sample trajectory in a loop
def play_sample_trajectory():
    update_rate = 60
    cycle_time = 3
    traj = np.repeat(talos.q0.reshape((-1, 1)), cycle_time * update_rate, axis=1)
    beta = np.linspace(0, 1, traj.shape[1])
    traj[[2, 9, 10, 11, 22, 15, 16, 17, 30]] = (
        0.39 + 0.685 * np.cos(beta),
        -beta,
        2.0 * beta,
        -beta,
        0.1 + beta * 1.56,
        -beta,
        2.0 * beta,
        -beta,
        -0.1 - beta * 1.56,
    )
 
    while True:
        talos.play(traj.T, 1.0 / update_rate)
        traj = np.flip(traj, 1)
 
 
try:
    play_sample_trajectory()
except ViewerClosedError:
    # an exception will be thrown when the window is closed
    pass