Loading a model

Introduction

The most convenient way to build a robot model consists in parsing a description file.

Supported formats

Two format are supported.

Format urdf

To load an urdf file in C++ code, copy the following lines:

#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/parser/urdf.hpp>
#include <pinocchio/multibody/parser/utils.hpp>
bool verbose = false;
se3::Model model = se3::urdf::buildModel (filename, verbose);

Format lua

To load an lua file in C++ code, copy the following lines:

#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/parser/lua.hpp>
#include <pinocchio/multibody/parser/utils.hpp>
bool verbose = false;
se3::Model model = se3::lua::buildModel (filename, false, verbose);