panda3d-viewer.py
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1 # This examples shows how to load several robots in panda3d_viewer.
2 # Note: this feature requires panda3d_viewer to be installed, this can be done using
3 # pip install panda3d_viewer
4 
5 import sys
6 from os.path import dirname, join, abspath
7 
8 # Add path to the example-robot-data package
9 path = join(
10  dirname(dirname(abspath(__file__))), "models", "example-robot-data", "python"
11 )
12 sys.path.append(path)
14  TalosLoader,
15  RomeoLoader,
16  ICubLoader,
17  TiagoLoader,
18 )
19 from example_robot_data.robots_loader import Solo8Loader, HyQLoader, HectorLoader
20 
21 from panda3d_viewer import Viewer
22 from pinocchio.visualize.panda3d_visualizer import Panda3dVisualizer
23 
24 # Open a Panda3D GUI window
25 viewer = Viewer(window_title="python-pinocchio")
26 
27 # These RobotLoader classes are defined in example_robot_data
28 loaders = (
29  TalosLoader,
30  RomeoLoader,
31  ICubLoader,
32  TiagoLoader,
33  Solo8Loader,
34  HyQLoader,
35  HectorLoader,
36 )
37 
38 for i, loader in enumerate(loaders):
39  # The robot is loaded as a RobotWrapper object
40  robot = loader().robot
41  # Attach the robot to the viewer scene
42  robot.setVisualizer(Panda3dVisualizer())
43  robot.initViewer(viewer=viewer)
44  robot.loadViewerModel(group_name=robot.model.name)
45 
46  q = robot.q0[:]
47  q[1] = 3 - i
48  if loader is RomeoLoader:
49  q[2] = 0.87
50 
51  robot.display(q)
52 
53 viewer.join()
example_robot_data.robots_loader
Definition: robots_loader.py:1
example_robot_data.robots_loader.loader
def loader(name, display=False, rootNodeName="", verbose=False)
Definition: robots_loader.py:616
pinocchio.visualize.panda3d_visualizer
Definition: panda3d_visualizer.py:1
pinocchio.visualize.panda3d_visualizer.Panda3dVisualizer
Definition: panda3d_visualizer.py:17
path


pinocchio
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autogenerated on Sun Jun 16 2024 02:43:12