overview-urdf.py

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from pathlib import Path
from sys import argv
 
import pinocchio
 
# This path refers to Pinocchio source code but you can define your own directory here.
pinocchio_model_dir = Path(__file__).parent.parent / "models"
 
# You should change here to set up your own URDF file or just pass it as an argument of
# this example.
urdf_filename = (
    pinocchio_model_dir / "example-robot-data/robots/ur_description/urdf/ur5_robot.urdf"
    if len(argv) < 2
    else argv[1]
)
 
# Load the urdf model
model = pinocchio.buildModelFromUrdf(urdf_filename)
print("model name: " + model.name)
 
# Create data required by the algorithms
data = model.createData()
 
# Sample a random configuration
q = pinocchio.randomConfiguration(model)
print(f"q: {q.T}")
 
# Perform the forward kinematics over the kinematic tree
pinocchio.forwardKinematics(model, data, q)
 
# Print out the placement of each joint of the kinematic tree
for name, oMi in zip(model.names, data.oMi):
    print("{:<24} : {: .2f} {: .2f} {: .2f}".format(name, *oMi.translation.T.flat))