Function createVisualizer

sandbox/sim_utils.py:328–342

(
    model: pin.GeometryModel,
    geom_model: pin.GeometryModel,
    visual_model: pin.GeometryModel,
)

def createVisualizer(
    model: pin.GeometryModel,
    geom_model: pin.GeometryModel,
    visual_model: pin.GeometryModel,
):
    viewer = meshcat.Visualizer(zmq_url="tcp://127.0.0.1:6000")
    viewer.delete()
    for obj in visual_model.geometryObjects:
        if obj.name != "floor":
            color = np.random.rand(4)
            color[3] = 1.0
            obj.meshColor = color
    vizer: MeshcatVisualizer = MeshcatVisualizer(model, geom_model, visual_model)
    vizer.initViewer(viewer=viewer, open=False, loadModel=True)
    return vizer, viewer