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

examples/CMakeLists.txt

@@ -38,6 +38,8 @@ IF(BUILD_PYTHON_INTERFACE)
     kinematics-derivatives
     fd-derivatives
     id-derivatives
+    gepetto-viewer
+    meshcat-viewer
     robot-wrapper-viewer
     )
 

examples/gepetto-viewer.py

@@ -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")
+

examples/meshcat-viewer.py

@@ -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")
+

examples/robot-wrapper-viewer.py

@@ -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.")