Example: Load all humanoid robot descriptions

Author: stephane-caron

CHANGELOG.md

@@ -12,6 +12,7 @@ All notable changes to this project will be documented in this file.
 - Description: Apptronik Apollo (MJCF)
 - Description: BXI Elf2 (MJCF)
 - Description: BXI Elf2 (URDF)
+- Example: Load all humanoid robot descriptions
 - Example: Load all quadruped robot descriptions
 - Export `DESCRIPTIONS` dictionary from top-level module
 

examples/all_humanoids.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""
+Show all humanoid 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_humanoids = 0
+    viewer = None
+    visualizer = MeshcatVisualizer()
+
+    for name, description in DESCRIPTIONS.items():
+        if "humanoid" not in description.tags:
+            continue
+        if name == "talos_mj_description":
+            # See https://github.com/stack-of-tasks/pinocchio/issues/2612
+            continue
+        if name == "op3_mj_description":
+            # See https://github.com/stack-of-tasks/pinocchio/issues/2614
+            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_humanoids // GRID_SIZE
+        column = nb_humanoids % GRID_SIZE
+        nb_humanoids += 1
+        q = robot.q0.copy()
+        q[0] = row * GRID_SPACING  # [m]
+        q[1] = column * GRID_SPACING  # [m]
+        robot.display(q)
+        print(f"Displaying {name=}")
+        input("Press Enter to close MeshCat and terminate... ")
+
+    print(f"Displaying {nb_humanoids} humanoid robot descriptions")
+    input("Press Enter to close MeshCat and terminate... ")