examples: make the example idenpendant

examples/build-reduced-model.py

 import pinocchio as pin
-from pinocchio.robot_wrapper import RobotWrapper
-import example_robot_data
 import numpy as np
 import os
 
 # Goal: Build a reduced model from an existing URDF model by fixing the desired joints at a specified position.
 
 # Load UR robot arm
-modelPath = os.path.join(os.environ.get('HOME'), "Dev")
-URDF_FILENAME = "ur5_robot.urdf"
-URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
-robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
+# This path refers to Pinocchio source code but you can define your own directory here.
+pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
+model_path = pinocchio_model_dir + '/others/robots'
+mesh_dir = model_path
+# You should change here to set up your own URDF file
+urdf_filename = model_path + '/ur_description/urdf/ur5_robot.urdf'
+model, collision_model, visual_model = pinocchio.buildModelsFromUrdf(urdf_model_path, mesh_dir)
 
 # Check dimensions of the original model
-print('standard model: dim=' + str(len(robot.model.joints)))
-for jn in robot.model.joints:
+print('standard model: dim=' + str(len(model.joints)))
+for jn in model.joints:
     print(jn)
 
 # Create a list of joints to lock
@@ -23,22 +24,23 @@ jointsToLock = ['wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
 # Get the ID of all existing joints
 jointsToLockIDs = []
 for jn in jointsToLock:
-    if robot.model.existJointName(jn):
-        jointsToLockIDs.append(robot.model.getJointId(jn))
+    if model.existJointName(jn):
+        jointsToLockIDs.append(model.getJointId(jn))
     else:
         print('Warning: joint ' + str(jn) + ' does not belong to the model!')
 
-# Set initial position of both fixed and revoulte joints 
-initialJointConfig = np.array([0,0,0,   # shoulder and elbow      
+# Set initial position of both fixed and revoulte joints
+initialJointConfig = np.array([0,0,0,   # shoulder and elbow    
                                 1,1,1]) # gripper)
 
 # Option 1: Build the reduced model including the geometric model for proper displaying of the robot
-robot.model, robot.visual_model = pin.buildReducedModel(robot.model, robot.visual_model, jointsToLockIDs, initialJointConfig)
+model_reduced, visual_model_reduced = pin.buildReducedModel(model, visual_model, jointsToLockIDs, initialJointConfig)
 
 # Option 2: Only build the reduced model in case no display needed:
-# robot.model = pin.buildReducedModel(robot.model, jointsToLockIDs, initialJointConfig)
+# model_reduced = pin.buildReducedModel(model, jointsToLockIDs, initialJointConfig)
 
 # Check dimensions of the reduced model
-print('reduced model: dim=' + str(len(robot.model.joints)))
-for jn in robot.model.joints:
-    print(jn)
\ No newline at end of file
+print('reduced model: dim=' + str(len(model_reduced.joints)))
+for jn in model_reduced.joints:
+    print(jn)
+