Merge pull request #2443 from jorisv/topic/fix_examples

Fix some examples

Author: jcarpent

CHANGELOG.md

@@ -24,6 +24,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix compilation issue with MSCV and C++17 ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437))
 - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437))
 - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296))
+- Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` ([#2443](https://github.com/stack-of-tasks/pinocchio/pull/2443))
 
 ### Changed
 

examples/cassie-simulation.py

@@ -1,44 +1,11 @@
 from time import sleep
 
+import example_robot_data
 import numpy as np
 import pinocchio
-from example_robot_data import readParamsFromSrdf
-from pinocchio import JointModelFreeFlyer
-
-model_dir = "/local/rbudhira/devel/install/sot/share/example-robot-data/robots/"
-# pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
-sdf_filename = model_dir + "cassie_description/robots/cassie.sdf"
-srdf_path = model_dir + "cassie_description/srdf/cassie_v2.srdf"
-package_dir = model_dir + "../../"
-
-sdf_parent_guidance = [
-    "left-roll-op",
-    "left-yaw-op",
-    "left-pitch-op",
-    "left-knee-op",
-    "left-tarsus-spring-joint",
-    "left-foot-op",
-    "right-roll-op",
-    "right-yaw-op",
-    "right-pitch-op",
-    "right-knee-op",
-    "right-tarsus-spring-joint",
-    "right-foot-op",
-]
-
-
-robot = pinocchio.RobotWrapper.BuildFromSDF(
-    sdf_filename,
-    package_dirs=[package_dir],
-    root_joint=JointModelFreeFlyer(),
-    root_link_name="pelvis",
-    parent_guidance=sdf_parent_guidance,
-)
-
-robot.q0 = readParamsFromSrdf(
-    robot.model, srdf_path, has_rotor_parameters=False, referencePose="standing"
-)
+from pinocchio.visualize import GepettoVisualizer
 
+robot = example_robot_data.load("cassie")
 
 constraint_models = robot.constraint_models
 
@@ -92,9 +59,10 @@
 mid_point /= 4.0
 
 
-robot.initDisplay(loadModel=True)
+robot.setVisualizer(GepettoVisualizer())
+robot.initViewer()
+robot.loadViewerModel("pinocchio")
 gui = robot.viewer.gui
-
 robot.display(robot.q0)
 q0 = robot.q0.copy()
 constraint_datas = pinocchio.StdVec_RigidConstraintData()

examples/talos-simulation.py

@@ -3,6 +3,7 @@
 import example_robot_data
 import numpy as np
 import pinocchio
+from pinocchio.visualize import GepettoVisualizer
 
 robot = example_robot_data.load("talos")
 model = robot.model
@@ -53,6 +54,7 @@
     pinocchio.rpy.rpyToMatrix(np.array([0, -np.pi / 2, 0.0])), np.array([0.6, 0.4, 1.0])
 )
 
+robot.setVisualizer(GepettoVisualizer())
 robot.initViewer()
 robot.loadViewerModel("pinocchio")
 gui = robot.viewer.gui