def connect_to_ros(doctest_namespace):
client = RosClient()
client.run()
robot = Robot(client)
doctest_namespace["client"] = client
doctest_namespace["robot"] = robot
yield
client.close()
self.get_end_effector_link_name())
print("The base link's name is '%s'" % self.get_base_link_name())
print("The base_frame is:", self.get_base_frame())
print("The robot's joints are:")
for joint in configurable_joints:
info = "\t* '%s' is of type '%s'" % (
joint.name, list(Joint.SUPPORTED_TYPES)[joint.type])
if joint.limit:
info += " and has limits [%.3f, %.3f]" % (joint.limit.upper,
joint.limit.lower)
print(info)
print("The robot's links are:")
print([l.name for l in self.model.links])
if __name__ == "__main__":
import doctest
import math
from compas.datastructures import Mesh
from compas.datastructures import mesh_transformed
from compas.geometry import Scale
from compas_fab.robots.ur5 import Robot as UR5Robot
from compas_fab.backends import RosClient
client = RosClient()
client.run()
robot = UR5Robot(client)
doctest.testmod(globs=globals())
client.close()
client.terminate()