def Robot(client=None, load_geometry=False):
"""Returns a UR5 robot.
This method serves mainly as help for writing examples, so that the code can
stay short.
It is intentionally capitalized to act as an almost drop-in replacement for
the constructor of :class:`compas_fab.robots.Robot`.
Parameters
----------
client: object
Backend client.
load_geometry: bool
Returns
-------
:class:`compas_fab.robots.Robot`
Newly created instance of a UR5 robot.
Examples
--------
>>> from compas_fab.robots.ur5 import Robot
>>> robot = Robot()
>>> robot.name
'ur5'
"""
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur5.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur5_moveit_config/config/ur5.srdf')
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
if load_geometry:
loader = LocalPackageMeshLoader(compas_fab.get('universal_robot'),
'ur_description')
model.load_geometry(loader)
robot = RobotClass(model, semantics=semantics)
if client:
robot.client = client
return robot
import os
from compas.geometry import Frame
from compas.robots import LocalPackageMeshLoader
from compas.robots import RobotModel
from compas_fab.robots import Configuration
from ur_kinematics import inverse_kinematics_ur5
models_path = os.path.join(os.path.dirname(__file__), 'models')
loader = LocalPackageMeshLoader(models_path, 'ur_description')
model = RobotModel.from_urdf_file(loader.load_urdf('ur5.urdf'))
f = Frame((0.417, 0.191, -0.005), (-0.000, 1.000, 0.000),
(1.000, 0.000, 0.000))
f.point /= 0.001
sols = inverse_kinematics_ur5(f)
for joint_values in sols:
joint_names = model.get_configurable_joint_names()
print(Configuration.from_revolute_values(joint_values, joint_names))
model.load_geometry(github)
# print(model)
artist = RobotModelArtist(model, layer=robot)
# artist.scale(1000)
# artist.draw_visual()
# getallrobots(UR_packages, UR_robots)
fanuc_package = ['ros-industrial/fanuc', 'fanuc_m16ib_support', 'kinetic-devel']
fanuc_robots = [
'm16ib20'
]
# getallrobots(fanuc_package,fanuc_robots,'.xacro')
abb_package = ['ros-industrial/abb', 'abb_irb6600_support', 'kinetic-devel']
abb_robots = [
'irb6640'
]
# getallrobots(abb_package, abb_robots, '.urdf')
# github = GithubPackageMeshLoader('ros-industrial/universal_robot', 'ur_description', 'kinetic-devel')
package_path = 'universal_robot'
model = RobotModel.from_urdf_file('universal_robot\ur_description\urdf\ur10_robot.urdf')
loader = LocalPackageMeshLoader(package_path, 'ur_description')
model.load_geometry(loader)
artist = RobotModelArtist(model, layer='COMPAS FAB::Example2')
artist.draw_visual()
artist.draw_collision()
import time
from compas.datastructures import Mesh
from compas.robots import LocalPackageMeshLoader
import compas_fab
from compas_fab.backends.pybullet import PyBulletClient
from compas_fab.robots import AttachedCollisionMesh
from compas_fab.robots import CollisionMesh
with PyBulletClient() as client:
urdf_filepath = compas_fab.get(
'universal_robot/ur_description/urdf/ur5.urdf')
loader = LocalPackageMeshLoader(compas_fab.get('universal_robot'),
'ur_description')
robot = client.load_robot(urdf_filepath, [loader])
mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
cm = CollisionMesh(mesh, 'tip')
acm = AttachedCollisionMesh(cm, 'ee_link')
client.add_attached_collision_mesh(acm, {'mass': 0.5, 'robot': robot})
time.sleep(1)
client.step_simulation()
time.sleep(1)
client.remove_attached_collision_mesh('tip', {'robot': robot})
time.sleep(1)
""" Creates a robot model of a UR5 robot from a URDF file. """ import os from compas.robots import RobotModel from compas.robots import LocalPackageMeshLoader from compas_fab.robots import Robot HERE = os.path.dirname(__file__) DATA = os.path.join(HERE, '../data') PATH = os.path.join(DATA, 'robot_description') package = 'ur_description' urdf_filename = os.path.join(PATH, package, "urdf", "ur5.urdf") model = RobotModel.from_urdf_file(urdf_filename) # Load external geometry files (i.e. meshes) loader = LocalPackageMeshLoader(PATH, package) model.load_geometry(loader) print(model)
DATA = os.path.join(HERE, '../data')
PATH = os.path.join(DATA, 'robot_description')
#package = 'ur_description'
package = 'ur_setups'
urdf_filename = os.path.join(PATH, package, "urdf",
"ur10_with_measurement_tool.urdf")
srdf_filename = os.path.join(PATH, package, "ur10_with_measurement_tool.srdf")
#package = "abb_linear_axis"
#urdf_filename = os.path.join(PATH, package, "urdf", "abb_linear_axis_brick_suction_tool.urdf")
#srdf_filename = os.path.join(PATH, package, "abb_linear_axis_suction_tool.srdf")
model = RobotModel.from_urdf_file(urdf_filename)
loaders = []
loaders.append(LocalPackageMeshLoader(PATH, "ur_description"))
loaders.append(LocalPackageMeshLoader(PATH, "ur_end_effectors"))
#loaders.append(LocalPackageMeshLoader(PATH, "abb_linear_axis"))
#loaders.append(LocalPackageMeshLoader(PATH, "abb_irb4600_40_255"))
#loaders.append(LocalPackageMeshLoader(PATH, "abb_end_effectors"))
model.load_geometry(*loaders)
artist = None
# artist = RobotArtist(model)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
robot = Robot(model, artist, semantics, client=None)
robot.info()
from compas_rhino.artists import RobotModelArtist
from compas.robots import LocalPackageMeshLoader
from compas.robots import RobotModel
model = RobotModel.from_urdf_file('models/05_origins_meshes.urdf')
loader = LocalPackageMeshLoader('models', 'basic')
model.load_geometry(loader)
artist = RobotModelArtist(model, layer='COMPAS::Robot Viz')
artist.clear_layer()
artist.draw_visual()
