def load_ur5(self, load_geometry=False, concavity=False):
""""Load a UR5 robot to PyBullet.
Parameters
----------
load_geometry : :obj:`bool`, optional
Indicate whether to load the geometry of the robot or not.
concavity : :obj:`bool`, optional
When ``False`` (the default), the mesh will be loaded as its
convex hull for collision checking purposes. When ``True``,
a non-static mesh will be decomposed into convex parts using v-HACD.
Returns
-------
:class:`compas_fab.robots.Robot`
A robot instance.
"""
robot_model = RobotModel.ur5(load_geometry)
robot = Robot(robot_model, client=self)
robot.attributes['pybullet'] = {}
if load_geometry:
self.cache_robot(robot, concavity)
else:
robot.attributes['pybullet']['cached_robot'] = robot.model
robot.attributes['pybullet']['cached_robot_filepath'] = compas.get(
'ur_description/urdf/ur5.urdf')
urdf_fp = robot.attributes['pybullet']['cached_robot_filepath']
self._load_robot_to_pybullet(urdf_fp, robot)
srdf_filename = compas_fab.get(
'universal_robot/ur5_moveit_config/config/ur5.srdf')
self.load_semantics(robot, srdf_filename)
return robot
from compas.robots import RobotModel
from compas_fab.backends import RosClient
from compas_fab.robots import Robot
with RosClient() as client:
model = RobotModel.ur5()
robot = Robot(model, client=client)
robot.info()
assert len(robot.get_configurable_joint_names()) == 6
