Get Model

SUMMARY

Get Model returns the standard pinocchio.Model object built from the robot's URDF.

The Skill

model = robot.get_model()

The Code

"""
Read the Pinocchio kinematic model.

Supports Universal Robots (UR), Epson, and virtual.

Usage:
    python get_model.py
"""

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main():
    """Read the Pinocchio kinematic model and log a few summary fields."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    # ==================== Run Skill ============================================
    model = robot.get_model()
    logger.success(f"Model: {model}")
    logger.info(f"Model name: {model.name}")
    logger.info(f"nq (configuration dim): {model.nq}")
    logger.info(f"nv (velocity dim): {model.nv}")
    logger.info(f"Number of joints: {model.njoints}")
    logger.info(f"Number of frames: {model.nframes}")


if __name__ == "__main__":
    main()

Parameter Configuration

This skill takes no input parameters.

Returns

Type	Description
pinocchio.Model	The Python Pinocchio kinematic model built from the URDF. Built lazily on first access and cached on the robot.

Raises

Exception	Condition
ImportError	The optional pinocchio package is not installed, raised on the first call that needs to build the model.

Where to Use the Skill

• Custom rigid-body algorithms - Run any algorithm in pinocchio (RNEA, CRBA, ABA, centroidal momentum, …) directly against the robot's model.
• Research / prototyping - Build new IK or planning algorithms on top of Pinocchio's data structures.
• Third-party integration - Hand the model to libraries that expect a pinocchio.Model instance.
• Geometry companions - Pair with Get Collision Model and Get Visual Model for the matching collision and visual GeometryModels.

When Not to Use the Skill

• A high-level Synapse skill exists - prefer the dedicated skills (Forward Kinematics, Inverse Kinematics, …) for common operations. They wrap unit conventions and TCP frames consistently.
• Pinocchio is not installed - the first call raises ImportError if the pinocchio package is missing.