Pinocchio 安装教程|机器人学的必备库

视频讲解：Pinocchio 安装教程｜机器人学的必备库_哔哩哔哩_bilibili

https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/index.html

安装pinocchio，不要安装pip3 install pinocchio ！最新的库叫pin

pip3 install pin
git clone https://github.com/Gepetto/example-robot-data.git
mkdir models && mv example-robot-data/ models
mkdir pinocchio && touch test_pinocchio.py

test_pinocchio.py

from pathlib import Path
from sys import argv
 
import pinocchio
 
# Load the urdf model
model = pinocchio.buildModelFromUrdf("/home/dar/MuJoCoBin/mujoco-learning/franka_panda_description/robots/panda_arm.urdf")
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))

python3 test_pinocchio.py