Example that loads all quadruped robot descriptions

Author: stephane-caron

CHANGELOG.md

@@ -10,6 +10,7 @@ All notable changes to this project will be documented in this file.
 - Description: Ability Hand (MJCF)
 - Description: Ability Hand (URDF)
 - Description: Apptronik Apollo (MJCF)
+- Example: Load all quadruped robot descriptions
 - Export `DESCRIPTIONS` dictionary from top-level module
 
 ### Changed

examples/show_all_quadrupeds.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""
+Show all quadruped robot descriptions using Pinocchio and MeshCat.
+"""
+
+try:
+    import pinocchio as pin
+    from pinocchio.visualize import MeshcatVisualizer
+except ImportError as e:
+    raise ImportError("Pinocchio not found, try `pip install pin`") from e
+
+from robot_descriptions import DESCRIPTIONS
+from robot_descriptions.loaders.pinocchio import load_robot_description
+
+GRID_SPACING = 2.0  # [m]
+GRID_SIZE = 5
+
+if __name__ == "__main__":
+    nb_quadrupeds = 0
+    viewer = None
+    visualizer = MeshcatVisualizer()
+
+    for name, description in DESCRIPTIONS.items():
+        if "quadruped" not in description.tags:
+            continue
+        if name == "a1_mj_description":
+            # See https://github.com/stack-of-tasks/pinocchio/issues/2613
+            continue
+        if name in ("anymal_b_mj_description", "anymal_c_mj_description"):
+            # See https://github.com/stack-of-tasks/pinocchio/issues/2611
+            continue
+        robot = load_robot_description(
+            name,
+            root_joint=pin.JointModelFreeFlyer(),
+        )
+        robot.setVisualizer(visualizer)
+        if viewer is None:
+            robot.initViewer(open=True)
+            viewer = robot.viewer
+        robot.loadViewerModel()
+        row = nb_quadrupeds // GRID_SIZE
+        column = nb_quadrupeds % GRID_SIZE
+        nb_quadrupeds += 1
+        q = robot.q0.copy()
+        q[0] = row * GRID_SPACING  # [m]
+        q[1] = column * GRID_SPACING  # [m]
+        robot.display(q)
+
+    print(f"Displaying {nb_quadrupeds} quadruped robot descriptions")
+    input("Press Enter to close MeshCat and terminate... ")