parent_transformation = Transformation()
for item in itertools.chain(parent_link.visual, parent_link.collision):
if not item.init_transformation:
item.init_transformation = parent_transformation
else:
parent_transformation = item.init_transformation
joint._create(parent_transformation)
for item in itertools.chain(child_link.visual, child_link.collision):
item.init_transformation = joint.current_transformation
return joint
URDFParser.install_parser(RobotModel, 'robot')
URDFParser.install_parser(Material, 'robot/material')
URDFParser.install_parser(Color, 'robot/material/color')
URDFParser.install_parser(Texture, 'robot/material/texture')
if __name__ == '__main__':
import os
import doctest
from compas import HERE
from compas.geometry import Sphere # noqa: F401
from compas.robots import GithubPackageMeshLoader # noqa: F401
ur5_urdf_file = os.path.join(HERE, '..', '..', 'tests', 'compas', 'robots',
'fixtures', 'ur5.xacro')
robot = RobotModel("robot", links=[], joints=[])
type=None,
visual=[],
collision=[],
inertial=None,
**kwargs):
self.name = name
self.type = type
self.visual = visual
self.collision = collision
self.inertial = inertial
self.attr = kwargs
self.joints = []
self.parent_joint = None
URDFParser.install_parser(Link, 'robot/link')
URDFParser.install_parser(Inertial, 'robot/link/inertial')
URDFParser.install_parser(Mass, 'robot/link/inertial/mass')
URDFParser.install_parser(Inertia, 'robot/link/inertial/inertia')
URDFParser.install_parser(Visual, 'robot/link/visual')
URDFParser.install_parser(Collision, 'robot/link/collision')
URDFParser.install_parser(Origin, 'robot/link/inertial/origin',
'robot/link/visual/origin',
'robot/link/collision/origin')
URDFParser.install_parser(Geometry, 'robot/link/visual/geometry',
'robot/link/collision/geometry')
URDFParser.install_parser(MeshDescriptor, 'robot/link/visual/geometry/mesh',
'robot/link/collision/geometry/mesh')
URDFParser.install_parser(Box, 'robot/link/visual/geometry/box',
return self.type in [Joint.PLANAR, Joint.PRISMATIC]
def scale(self, factor):
"""Scale the joint origin and limit (only if scalable) by a given factor.
Parameters
----------
factor : :obj:`float`
Scale factor.
Returns
-------
None
"""
self.origin.scale(factor)
if self.is_scalable():
self.limit.scale(factor)
URDFParser.install_parser(Joint, 'robot/joint')
URDFParser.install_parser(ParentLink, 'robot/joint/parent')
URDFParser.install_parser(ChildLink, 'robot/joint/child')
URDFParser.install_parser(Calibration, 'robot/joint/calibration')
URDFParser.install_parser(Dynamics, 'robot/joint/dynamics')
URDFParser.install_parser(Limit, 'robot/joint/limit')
URDFParser.install_parser(Axis, 'robot/joint/axis')
URDFParser.install_parser(Mimic, 'robot/joint/mimic')
URDFParser.install_parser(SafetyController, 'robot/joint/safety_controller')
URDFParser.install_parser(Origin, 'robot/joint/origin')
