4 import pinocchio
as pin
5 from os.path import dirname, join, abspath
11 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),
"models")
13 model_path = join(pinocchio_model_dir,
"example-robot-data/robots")
14 mesh_dir = pinocchio_model_dir
15 urdf_filename =
"talos_reduced.urdf"
16 urdf_model_path = join(join(model_path,
"talos_data/robots"), urdf_filename)
18 model, collision_model, visual_model = pin.buildModelsFromUrdf(
19 urdf_model_path, mesh_dir, pin.JointModelFreeFlyer()
25 viz.loadViewerModel(
"pinocchio")
28 q0 = pin.neutral(model)
33 viz2.initViewer(viz.viewer)
34 viz2.loadViewerModel(rootNodeName=
"pinocchio2")
39 input(
"Press enter to exit...")