Get Visual Model

SUMMARY

Get Visual Model returns the pinocchio.GeometryModel populated from the URDF's <visual> tags.

The Skill

visual_model = robot.get_visual_model()

The Code

"""
Read the Pinocchio visual geometry model.

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

Usage:
    python get_visual_model.py
"""

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main():
    """Read the Pinocchio visual geometry model and log a summary."""

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

    # ==================== Run Skill ============================================
    visual_model = robot.get_visual_model()

    logger.info(f"Number of visual geometries: {len(visual_model.geometryObjects)}")
    for geom in visual_model.geometryObjects:
        logger.info(f"  - {geom.name}")


if __name__ == "__main__":
    main()

Parameter Configuration

This skill takes no input parameters.

Returns

Type	Description
pinocchio.GeometryModel	Visual GeometryModel built from the URDF's <visual> declarations. Built lazily on first access and cached on the robot.

Raises

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

Where to Use the Skill

• Pinocchio-native visualizers - Hand the visual model to any visualizer that expects a GeometryModel.
• Custom rendering - Drive any renderer that consumes Pinocchio geometry objects.
• Companion to Get Model and Get Collision Model when a library expects the full (model, collision_model, visual_model) triple.

When Not to Use the Skill

• You use a raw-array visualizer - prefer Get Visual Meshes Data + Get Visual Mesh Transforms, which return NumPy arrays directly.
• You need collision geometries - call Get Collision Model instead.
• Pinocchio is not installed - the first call raises ImportError.