Directory: | ./ |
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File: | examples/overview-urdf.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 14 | 14 | 100.0% |
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1 | #include "pinocchio/parsers/urdf.hpp" | ||
2 | |||
3 | #include "pinocchio/algorithm/joint-configuration.hpp" | ||
4 | #include "pinocchio/algorithm/kinematics.hpp" | ||
5 | |||
6 | #include <iostream> | ||
7 | |||
8 | // PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here. | ||
9 | #ifndef PINOCCHIO_MODEL_DIR | ||
10 | #define PINOCCHIO_MODEL_DIR "path_to_the_model_dir" | ||
11 | #endif | ||
12 | |||
13 | 1 | int main(int argc, char ** argv) | |
14 | { | ||
15 | using namespace pinocchio; | ||
16 | |||
17 | // You should change here to set up your own URDF file or just pass it as an argument of this | ||
18 | // example. | ||
19 | const std::string urdf_filename = | ||
20 | (argc <= 1) ? PINOCCHIO_MODEL_DIR | ||
21 |
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2 | + std::string("/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf") |
22 |
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2 | : argv[1]; |
23 | |||
24 | // Load the urdf model | ||
25 |
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1 | Model model; |
26 |
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1 | pinocchio::urdf::buildModel(urdf_filename, model); |
27 |
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1 | std::cout << "model name: " << model.name << std::endl; |
28 | |||
29 | // Create data required by the algorithms | ||
30 |
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1 | Data data(model); |
31 | |||
32 | // Sample a random configuration | ||
33 |
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1 | Eigen::VectorXd q = randomConfiguration(model); |
34 |
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1 | std::cout << "q: " << q.transpose() << std::endl; |
35 | |||
36 | // Perform the forward kinematics over the kinematic tree | ||
37 |
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1 | forwardKinematics(model, data, q); |
38 | |||
39 | // Print out the placement of each joint of the kinematic tree | ||
40 |
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8 | for (JointIndex joint_id = 0; joint_id < (JointIndex)model.njoints; ++joint_id) |
41 |
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7 | std::cout << std::setw(24) << std::left << model.names[joint_id] << ": " << std::fixed |
42 |
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7 | << std::setprecision(2) << data.oMi[joint_id].translation().transpose() << std::endl; |
43 | 1 | } | |
44 |