5 import pinocchio
as pin
6 pin.switchToNumpyMatrix()
10 from os.path
import dirname, join, abspath
12 from pinocchio.visualize
import MeshcatVisualizer
16 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),
"models")
18 model_path = join(pinocchio_model_dir,
"others/robots")
20 urdf_filename =
"talos_reduced.urdf" 21 urdf_model_path = join(join(model_path,
"talos_data/urdf"),urdf_filename)
23 model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
25 viz = MeshcatVisualizer(model, collision_model, visual_model)
34 viz.initViewer(open=
True)
35 except ImportError
as err:
36 print(
"Error while initializing the viewer. It seems you should install Python meshcat")
44 q0 = pin.neutral(model)
48 viz2 = MeshcatVisualizer(model, collision_model, visual_model)
49 viz2.initViewer(viz.viewer)
50 viz2.loadViewerModel(rootNodeName =
"pinocchio2")