def frame(self, value):
if value is None:
self._frame = Frame.worldXY()
if 'euler_angles' in value:
if 'point' in value:
self._frame = Frame.from_euler_angles(
radians(value['euler_angles']),
value['point'])
self._frame = Frame.from_euler_angles(
radians(value['euler_angles']))
else:
point = value[0]
xaxis = value[1]
yaxis = value[2]
self._frame = Frame(point, xaxis, yaxis)
def from_urdf(cls, attributes, elements=None, text=None):
"""Create origin instance from an URDF element.
Parameters
----------
attributes : dict[str, Any]
Attributes of the URDF element.
elements: list[object], optional
Children elements of the URDF element.
text: str, optional
Text content of the URDF element.
Returns
-------
:class:`FrameProxy`
Frame proxy instance.
Examples
--------
>>> attributes = {'rpy': '0.0 1.57 0.0', 'xyz': '0.0 0.13 0.0'}
>>> f = FrameProxy.from_urdf(attributes, [], None)
>>> f
Frame(Point(0.000, 0.130, 0.000), Vector(0.001, 0.000, -1.000), Vector(0.000, 1.000, 0.000))
"""
xyz = _parse_floats(attributes.get('xyz', '0 0 0'))
rpy = _parse_floats(attributes.get('rpy', '0 0 0'))
return cls(
Frame.from_euler_angles(rpy, static=True, axes='xyz', point=xyz))
def __init__(self,
name,
type,
parent,
child,
origin=None,
axis=None,
calibration=None,
dynamics=None,
limit=None,
safety_controller=None,
mimic=None,
**kwargs):
type_idx = type
if isinstance(type_idx, str) and type_idx in Joint.SUPPORTED_TYPES:
type_idx = Joint.SUPPORTED_TYPES.index(type_idx)
if type_idx not in range(len(Joint.SUPPORTED_TYPES)):
raise ValueError('Unsupported joint type: %s' % type)
super(Joint, self).__init__()
self.name = name
self.type = type_idx
self.parent = parent if isinstance(parent,
ParentLink) else ParentLink(parent)
self.child = child if isinstance(child,
ChildLink) else ChildLink(child)
self.origin = origin or Frame.from_euler_angles([0., 0., 0.])
self.axis = axis or Axis()
self.calibration = calibration
self.dynamics = dynamics
self.limit = limit
self.safety_controller = safety_controller
self.mimic = mimic
self.attr = kwargs
self.child_link = None
self.position = 0
# The following are world-relative frames representing the origin and the axis, which change with
# the joint state, while `origin` and `axis` above are parent-relative and static.
self.current_origin = self.origin.copy()
self.current_axis = self.axis.copy()
def fixed_waam_setup():
HERE = os.path.dirname(__file__)
package_path = os.path.abspath(
os.path.join(HERE, "..", "..", "data", "robots", "abb_fixed_waam"))
urdf_filename = os.path.join(package_path, "urdf", "abb_fixed_waam.urdf")
srdf_filename = os.path.join(package_path, "srdf", "abb_fixed_waam.srdf")
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
tool_frame_robotA = Frame.from_euler_angles(
[0.591366, -0.000922, 1.570177],
static=True,
axes='xyz',
point=[-0.002241, -0.000202, 0.505922])
tool_mesh_robotA = Mesh.from_obj(
os.path.join(package_path, "meshes", "collision", "waam_tool.obj"))
robotA_tool = Tool(tool_mesh_robotA,
tool_frame_robotA,
collision=tool_mesh_robotA)
return urdf_filename, semantics, robotA_tool
"""There are several ways to construct a `Frame`. """ from compas.geometry import Point from compas.geometry import Vector from compas.geometry import Frame from compas.geometry import Plane # Frame autocorrects axes to be orthonormal F = Frame(Point(1, 0, 0), Vector(-0.45, 0.1, 0.3), Vector(1, 0, 0)) F = Frame([1, 0, 0], [-0.45, 0.1, 0.3], [1, 0, 0]) F = Frame.from_points([1, 1, 1], [2, 3, 6], [6, 3, 0]) F = Frame.from_plane(Plane([0, 0, 0], [0.5, 0.2, 0.1])) F = Frame.from_euler_angles([0.5, 1., 0.2]) F = Frame.worldXY()
