RobotWrapper
is a wrapper class written in Python holding Pinocchio models and data. It also includes wrapper functions for a few common methods. RobotWrapper
can interoperate with different visualizers. Below, you find an example on how to load a model with RobotWrapper
and how to use it with a visualizer of your choice.
6 import pinocchio
as pin
7 pin.switchToNumpyMatrix()
8 from pinocchio.robot_wrapper
import RobotWrapper
9 from pinocchio.visualize
import (GepettoVisualizer, MeshcatVisualizer)
12 from os.path
import dirname, join, abspath
23 VISUALIZER = GepettoVisualizer
25 VISUALIZER = MeshcatVisualizer
27 raise ValueError(
"Unrecognized option: " + opt)
31 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),
"models")
33 model_path = join(pinocchio_model_dir,
"others/robots")
35 urdf_filename =
"talos_reduced.urdf" 36 urdf_model_path = join(join(model_path,
"talos_data/urdf"),urdf_filename)
38 robot = RobotWrapper.BuildFromURDF(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
49 com2 = pin.centerOfMass(model,data,q0)
53 robot.setVisualizer(VISUALIZER())
55 robot.loadViewerModel(
"pinocchio")