def _create_model():
joints = [
Joint('joint_x', 'prismatic', parent='rfl', child='bridge'),
Joint('joint_y', 'prismatic', parent='bridge', child='vertical'),
Joint('joint_z', 'prismatic', parent='vertical', child='base_link'),
Joint('joint_1', 'revolute', parent='base_link', child='link_1'),
Joint('joint_2', 'revolute', parent='link_1', child='link_2'),
Joint('joint_3', 'revolute', parent='link_2', child='link_3'),
Joint('joint_4', 'revolute', parent='link_3', child='link_4'),
Joint('joint_5', 'revolute', parent='link_4', child='link_5'),
Joint('joint_6', 'revolute', parent='link_5', child='link_6'),
]
links = [
Link('rfl'),
Link('bridge'),
Link('vertical'),
Link('base_link'),
Link('link_1'),
Link('link_2'),
Link('link_3'),
Link('link_4'),
Link('link_5'),
Link('link_6'),
]
return joints, links
def test_mimic_calculate_position():
multiplier = 5.0
offset = 100.
j1 = Joint('j1', 'prismatic', None, None, axis=Axis('1 0 0'))
j1.position = 200
mimic = Mimic(j1, multiplier=multiplier, offset=offset)
result = mimic.calculate_position(j1.position)
assert result == multiplier * j1.position + offset
def ur5():
"""Return a UR5 created programatically instead of from a file."""
return RobotModel('ur5',
joints=[
Joint('shoulder_pan_joint', 'revolute', 'base_link',
'shoulder_link'),
Joint('shoulder_lift_joint', 'revolute',
'shoulder_link', 'upper_arm_link'),
Joint('elbow_joint', 'revolute', 'upper_arm_link',
'forearm_link'),
Joint('wrist_1_joint', 'revolute', 'forearm_link',
'wrist_1_link'),
Joint('wrist_2_joint', 'revolute', 'wrist_1_link',
'wrist_2_link'),
Joint('wrist_3_joint', 'revolute', 'wrist_2_link',
'wrist_3_link'),
],
links=[
Link('base_link'),
Link('shoulder_link'),
Link('upper_arm_link'),
Link('forearm_link'),
Link('wrist_1_link'),
Link('wrist_2_link'),
Link('wrist_3_link'),
])
from compas.robots import RobotModel
from compas.robots import Joint
from compas.robots import Link
robot = RobotModel('ur10e',
joints=[
Joint('shoulder_pan_joint',
'revolute',
parent='base_link',
child='shoulder_link'),
Joint('shoulder_lift_joint',
'revolute',
parent='shoulder_link',
child='upper_arm_link'),
Joint('elbow_joint',
'revolute',
parent='upper_arm_link',
child='forearm_link'),
Joint('wrist_1_joint',
'revolute',
parent='forearm_link',
child='wrist_1_link'),
Joint('wrist_2_joint',
'revolute',
parent='wrist_1_link',
child='wrist_2_link'),
Joint('wrist_3_joint',
'revolute',
parent='wrist_2_link',
child='wrist_3_link'),
],
def test_prismatic_calculate_transformation():
limit = Limit(lower=0, upper=1000)
j1 = Joint('j1', 'prismatic', None, None, axis=Axis('1 0 0'), limit=limit)
t = j1.calculate_transformation(550)
assert t == Translation([550, 0, 0])
def test_revolute_calculate_transformation():
limit = Limit(lower=-2 * pi, upper=2 * pi)
j1 = Joint('j1', 'revolute', None, None, limit=limit)
transformation = j1.calculate_transformation(2*pi)
assert transformation == Transformation()
def test_constructor_joint_type_guard_int():
with pytest.raises(ValueError):
Joint("weld", 620, "base_metal1", "base_metal2")
def test_constructor_joint_type_guard_str():
with pytest.raises(ValueError):
Joint("joint", "synovial", "femur", "tibia")
def test_constructor_joint_type_int():
assert Joint("joint", Joint.REVOLUTE, "parent_joint", "child_joint")
assert Joint("joint", Joint.CONTINUOUS, "parent_joint", "child_joint")
assert Joint("joint", Joint.PRISMATIC, "parent_joint", "child_joint")
assert Joint("joint", Joint.FIXED, "parent_joint", "child_joint")
def test_constructor_joint_type_str():
assert Joint("joint", 'revolute', "parent_joint", "child_joint")
assert Joint("joint", 'continuous', "parent_joint", "child_joint")
assert Joint("joint", 'prismatic', "parent_joint", "child_joint")
assert Joint("joint", 'fixed', "parent_joint", "child_joint")