Commit 50c64f24 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

tsid biped: fix visualizer detection

parent 061de5f2
......@@ -139,7 +139,7 @@ class TsidBiped:
if viewer:
self.robot_display = pin.RobotWrapper.BuildFromURDF(conf.urdf, [conf.path], pin.JointModelFreeFlyer())
try:
if isinstance(self.viz, pin.visualize.GepettoVisualizer):
import gepetto.corbaserver
Viewer = pin.visualize.GepettoVisualizer
launched = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
......@@ -157,7 +157,7 @@ class TsidBiped:
# self.gui.setCameraTransform(0, conf.CAMERA_TRANSFORM)
self.gui.addFloor('world/floor')
self.gui.setLightingMode('world/floor', 'OFF')
except ModuleNotFoundError: # Meshcat
elif isinstance(self.viz, pin.visualize.MeshcatVisualizer):
Viewer = pin.visualize.MeshcatVisualizer
self.viz = Viewer(self.robot_display.model, self.robot_display.collision_model,
self.robot_display.visual_model)
......
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