import os
import compas
from compas.robots import RobotModel
from compas_fab.backends import RosClient
from compas_fab.backends import RosFileServerLoader
# Set high precision to import meshes defined in meters
compas.PRECISION = '12f'
with RosClient() as ros:
# Load URDF from ROS with local cache enabled
local_directory = os.path.join(os.path.expanduser('~'),
'robot_description')
loader = RosFileServerLoader(ros,
local_cache=True,
local_cache_directory=local_directory)
loader.robot_name = 'abb_irb1600_6_12'
urdf = loader.load_urdf()
# Create robot model from URDF and load geometry
model = RobotModel.from_urdf_string(urdf)
model.load_geometry(loader)
print(model)
import math
from compas.geometry import Frame
from compas.robots import RobotModel
from compas_fab.backends import RosClient
from compas_fab.backends import RosFileServerLoader
from compas_fab.robots import Configuration
from compas_fab.robots import Robot
from compas_fab.robots import RobotSemantics
with RosClient() as client:
loader = RosFileServerLoader(client)
urdf = loader.load_urdf()
srdf = loader.load_srdf()
model = RobotModel.from_urdf_string(urdf)
semantics = RobotSemantics.from_srdf_string(srdf, model)
robot = Robot(model, semantics=semantics, client=client)
group = robot.main_group_name
frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1])
tolerance_position = 0.001
tolerance_axes = [math.radians(1)] * 3
start_configuration = Configuration.from_revolute_values(
(0.667, -0.298, 0.336, -2.333, -1.787, 2.123, 0.571))
# create goal constraints from frame
goal_constraints = robot.constraints_from_frame(frame, tolerance_position,
import compas
from compas.robots import RobotModel
from compas_fab.backends import RosClient
from compas_fab.backends import RosFileServerLoader
# Set high precision to import meshes defined in meters
compas.PRECISION = '12f'
with RosClient() as ros:
# Load URDF from ROS
loader = RosFileServerLoader(ros)
urdf = loader.load_urdf()
# Create robot model from URDF and load geometry
model = RobotModel.from_urdf_string(urdf)
model.load_geometry(loader)
print(model)