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Fixed outdated Panda3D examples #2087

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Nov 16, 2023
Merged

Fixed outdated Panda3D examples #2087

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a21590d
fixed outdated Panda3D examples
zongmianli Nov 15, 2023
fc6a7c7
Removed uncessary imports
zongmianli Nov 16, 2023
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19 changes: 10 additions & 9 deletions examples/panda3d-viewer-play.py
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Original file line number Diff line number Diff line change
@@ -1,23 +1,24 @@
# This examples shows how to load and move a robot in panda3d_viewer.
# Note: this feature requires panda3d_viewer to be installed, this can be done using
# pip install --user panda3d_viewer
# pip install panda3d_viewer


import pinocchio as pin
import numpy as np
import sys

import sys
import numpy as np
from os.path import dirname, join, abspath

# add path to the example-robot-data package
# Add path to the example-robot-data package
path = join(dirname(dirname(abspath(__file__))), 'models', 'example-robot-data', 'python')
sys.path.append(path)
from example_robot_data import loadTalos
from example_robot_data.robots_loader import TalosLoader

# import visualizer
from panda3d_viewer import ViewerClosedError
from pinocchio.visualize.panda3d_visualizer import Panda3dVisualizer

talos = loadTalos()
# talos is a RobotWrapper object
talos = TalosLoader().robot
# Attach talos to the viewer scene
talos.setVisualizer(Panda3dVisualizer())
talos.initViewer()
talos.loadViewerModel(group_name='talos', color=(1, 1, 1, 1))
Expand All @@ -42,7 +43,7 @@ def play_sample_trajectory():
)

while True:
talos.play(traj, 1. / update_rate)
talos.play(traj.T, 1. / update_rate)
traj = np.flip(traj, 1)


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28 changes: 14 additions & 14 deletions examples/panda3d-viewer.py
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Original file line number Diff line number Diff line change
@@ -1,37 +1,37 @@
# This examples shows how to load several robots in panda3d_viewer.
# Note: this feature requires panda3d_viewer to be installed, this can be done using
# pip install --user panda3d_viewer
# pip install panda3d_viewer

import pinocchio as pin
import sys

from os.path import dirname, join, abspath

# add path to the example-robot-data package
# Add path to the example-robot-data package
path = join(dirname(dirname(abspath(__file__))), 'models', 'example-robot-data', 'python')
sys.path.append(path)
from example_robot_data import loadTalos, loadRomeo, loadICub, loadTiago
from example_robot_data import loadSolo, loadHyQ, loadHector
from example_robot_data.robots_loader import TalosLoader, RomeoLoader, ICubLoader, TiagoLoader
from example_robot_data.robots_loader import Solo8Loader, HyQLoader, HectorLoader

# import visualizer
from panda3d_viewer import Viewer
from pinocchio.visualize.panda3d_visualizer import Panda3dVisualizer

# open a GUI window
# Open a Panda3D GUI window
viewer = Viewer(window_title='python-pinocchio')

loaders = (loadTalos, loadRomeo, loadICub, loadTiago, loadSolo, loadHyQ,
loadHector)
# These RobotLoader classes are defined in example_robot_data
loaders = (TalosLoader, RomeoLoader, ICubLoader, TiagoLoader,
Solo8Loader, HyQLoader, HectorLoader)

for i, load in enumerate(loaders):
robot = load()
for i, loader in enumerate(loaders):
# The robot is loaded as a RobotWrapper object
robot = loader().robot
# Attach the robot to the viewer scene
robot.setVisualizer(Panda3dVisualizer())
robot.initViewer(viewer=viewer) # attach to a viewer's scene
robot.initViewer(viewer=viewer)
robot.loadViewerModel(group_name=robot.model.name)

q = robot.q0[:]
q[1] = 3 - i
if load is loadRomeo:
if loader is RomeoLoader:
q[2] = 0.87

robot.display(q)
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