Telekinesis Agentic Skill Library

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Get Model ​

SUMMARY

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

SUPPORTED ROBOTS

Available on all supported manipulators.

The Skill ​

python
model = robot.get_model()

The Code ​

python
"""
Read the Pinocchio kinematic model for the Synapse SDK.

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

Universal Robots (UR10e) is used here purely for illustration. It supports all robots.

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 the robot (no connect required — runs on the kinematic model)
    robot = universal_robots.UniversalRobotsUR10E()

    # Read the Pinocchio kinematic model
    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()

The Explanation of the Code ​

python
from telekinesis.synapse.robots.manipulators import universal_robots

robot = universal_robots.UniversalRobotsUR10E()

Create the robot. UR10e is used here for illustration; the same pattern works for every supported brand. No connect() is required - runs against the kinematic model.

python
model = robot.get_model()

Return the standard pinocchio.Model built from the robot's URDF, ready to hand off to any third-party library that expects a Pinocchio model. The model is built lazily on first access and cached on the robot.

python
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}")

Inspect the model directly via Pinocchio attributes - nq/nv for the configuration and velocity dimensions, plus joint and frame counts.

Return Value ​

TypeDescription
pinocchio.ModelThe Python Pinocchio kinematic model built from the URDF. Built lazily on first access and cached on the robot.

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.