Loading robots#

Loading your Robot#

To load a robot, you’ll need to use the RobotWrapper class. This class is wrapping the robot model, state and exposing all convenient methods to interact with your robot model.

Using URDF file#

To load your robot, you can simply specify an URDF file this way:

import placo
robot = placo.RobotWrapper("model/robot.urdf")

Note

If you only specify a directory, the robot.urdf file will be loaded.

Flags#

The second argument of RobotWrapper is a flag to specify modifiers. Available flags are the following:

Flag	Description
`placo.Flags.collision_as_visual`	Load collision geometry as visual geometry.
`placo.Flags.ignore_collisions`	Ignore all collisions (remove all the pairs).

For more information about the handling of self-collisions, see Self-collisions. An example would be:

import placo
# Loading a robot, ignoring all collisions
robot = placo.RobotWrapper("model/robot.urdf", placo.Flags.ignore_collisions)

Using direct URDF contents#

The third argument of RobotWrapper can be provided if you want to give the contents of the URDF file directly:

import placo
# Providing directly the URDF contents
robot = placo.RobotWrapper("model/", 0, urdf_contents)