3 from os.path import dirname, join, abspath
6 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),
"models")
9 join(pinocchio_model_dir,
"example-robot-data/robots")
if len(argv) < 2
else argv[1]
11 mesh_dir = pinocchio_model_dir
12 urdf_model_path = join(model_path,
"ur_description/urdf/ur5_robot.urdf")
15 model, collision_model, visual_model = pinocchio.buildModelsFromUrdf(
16 urdf_model_path, mesh_dir
18 print(
"model name: " + model.name)
21 data, collision_data, visual_data = pinocchio.createDatas(
22 model, collision_model, visual_model
37 print(
"\nJoint placements:")
38 for name, oMi
in zip(model.names, data.oMi):
39 print((
"{:<24} : {: .2f} {: .2f} {: .2f}".format(name, *oMi.translation.T.flat)))
42 print(
"\nCollision object placements:")
43 for k, oMg
in enumerate(collision_data.oMg):
44 print((
"{:d} : {: .2f} {: .2f} {: .2f}".format(k, *oMg.translation.T.flat)))
47 print(
"\nVisual object placements:")
48 for k, oMg
in enumerate(visual_data.oMg):
49 print((
"{:d} : {: .2f} {: .2f} {: .2f}".format(k, *oMg.translation.T.flat)))