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load_custom_urdf.py
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load_custom_urdf.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Copyright 2022 Stéphane Caron
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""
Load a custom URDF.
"""
import pinocchio as pin
try:
import yourdfpy
except ImportError:
yourdfpy = None
if __name__ == "__main__":
urdf_path = "./double_pendulum.urdf"
robot = pin.RobotWrapper.BuildFromURDF(
filename=urdf_path,
package_dirs=["."],
root_joint=None,
)
print(f"URDF description successfully loaded in {robot}")
if yourdfpy is None:
print("If you ``pip install yourdfpy``, this example will display it.")
else: # yourdfpy is not None
viz = yourdfpy.URDF.load(urdf_path)
viz.show()