3 import pinocchio
as pin
8 print(
"This example requires hppfcl")
14 geom_model = pin.GeometryModel()
16 hppfcl.Capsule(0.1, 0.8),
19 hppfcl.Cylinder(0.1, 1.0),
20 hppfcl.Cone(0.5, 1.0),
22 for i, geom
in enumerate(geometries):
23 placement = pin.SE3(np.eye(3), np.array([i, 0, 0]))
24 geom_obj = pin.GeometryObject(
"obj{}".format(i), 0, 0, placement, geom)
25 color = np.random.uniform(0, 1, 4)
27 geom_obj.meshColor = color
28 geom_model.addGeometryObject(geom_obj)
32 collision_model=geom_model,
33 visual_model=geom_model,
39 except ImportError
as error:
41 "Error while initializing the viewer. It seems you should install gepetto-viewer"
47 viz.loadViewerModel(
"shapes")
48 except AttributeError
as error:
50 "Error while loading the viewer model. It seems you should start gepetto-viewer"
55 viz.display(np.zeros(0))