Commit d2f4d90a authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[examples] Add gepetto-viewer and meshcat-viewer to automated testing

parent 49d2a9c7
......@@ -38,6 +38,8 @@ IF(BUILD_PYTHON_INTERFACE)
kinematics-derivatives
fd-derivatives
id-derivatives
gepetto-viewer
meshcat-viewer
robot-wrapper-viewer
)
......
......@@ -9,12 +9,6 @@ import os
from pinocchio.visualize import GepettoVisualizer
try:
# Python 2
input = raw_input
except NameError:
pass
# Load the URDF model.
# Conversion with str seems to be necessary when executing this file with ipython
current_path = str(os.path.dirname(os.path.abspath(__file__)))
......@@ -52,8 +46,6 @@ q0 = np.matrix([
]).T
viz.display(q0)
input("Displaying a single robot configuration. Press enter to continue")
# Display another robot.
viz2 = GepettoVisualizer(model, collision_model, visual_model)
viz2.initViewer(viz.viewer)
......@@ -61,4 +53,4 @@ viz2.loadViewerModel(rootNodeName = "pinocchio2")
q = q0.copy()
q[1] = 1.0
viz2.display(q)
input("Displaying a second robot. Press enter to exit")
......@@ -8,12 +8,6 @@ import numpy as np
import sys
import os
try:
# Python 2
input = raw_input
except NameError:
pass
from pinocchio.visualize import MeshcatVisualizer
# Load the URDF model.
......@@ -40,8 +34,6 @@ except ImportError as err:
print(err)
sys.exit(0)
input("Press enter to continue")
# Load the robot in the viewer.
# Color is needed here because the Romeo URDF doesn't contain any color, so the default color results in an
# invisible robot (alpha value set to 0).
......@@ -59,8 +51,6 @@ q0 = np.matrix([
]).T
viz.display(q0)
input("Displaying a single robot configuration. Press enter to continue")
# Display another robot.
red_robot_viz = MeshcatVisualizer(model, collision_model, visual_model)
red_robot_viz.initViewer(viz.viewer)
......@@ -68,4 +58,4 @@ red_robot_viz.loadViewerModel(rootNodeName = "red_robot", color = [1.0, 0.0, 0.0
q = q0.copy()
q[1] = 1.0
red_robot_viz.display(q)
input("Displaying a second robot with color red, semi-transparent. Press enter to exit")
......@@ -9,12 +9,6 @@ from pinocchio.robot_wrapper import RobotWrapper
from pinocchio.visualize import *
import os
try:
# Python 2
input = raw_input
except NameError:
pass
VISUALIZER = None
# VISUALIZER = GepettoVisualizer
# VISUALIZER = MeshcatVisualizer
......@@ -49,4 +43,3 @@ if VISUALIZER:
robot.loadViewerModel("pinocchio")
robot.display(q0)
#input("Press enter to exit.")
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