The most convenient way to build a robot model consists in parsing a description file.
Two format are supported.
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);
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);