def loadModelFromString(self, urdfString, rootJointType=pinocchio.JointModelFreeFlyer, removeMimicJoints=True):
""" Load a URDF model contained in a string
- param rootJointType: the root joint type. None for no root joint.
- param removeMimicJoints: if True, all the mimic joints found in the model are removed.
"""
if rootJointType is None:
self.pinocchioModel = pinocchio.buildModelFromXML(urdfString)
else:
self.pinocchioModel = pinocchio.buildModelFromXML(urdfString, rootJointType())
self.pinocchioData = pinocchio.Data(self.pinocchioModel)
if removeMimicJoints:
self._removeMimicJoints(urdfString=urdfString)
def test_xml(self):
with open(self.model_path) as model:
file_content = model.read()
model_ref = pin.buildModelFromUrdf(self.model_path, pin.JointModelFreeFlyer())
model = pin.buildModelFromXML(file_content,pin.JointModelFreeFlyer())
self.assertEqual(model,model_ref)
model_self = pin.Model()
pin.buildModelFromXML(file_content,pin.JointModelFreeFlyer(),model_self)
self.assertEqual(model_self,model_ref)