def getallrobots(package, robotnames, ending= '.urdf.xacro'):
for robot in robotnames:
github = GithubPackageMeshLoader(package[0], package[1], package[2])
print(github)
filename = robot + ending
print(filename)
# print(str(gh_model.headers))
# print(str(gh_model.status))
gh_model = github.load_urdf(filename)
print(str(gh_model.url))
model = RobotModel.from_urdf_file(gh_model)
model.load_geometry(github)
# print(model)
artist = RobotModelArtist(model, layer=robot)
# Before running this example, make sure to run
# "docker compose up" on the docker/moveit folder
import compas
from compas_fab.backends import RosClient
from compas_rhino.artists import RobotModelArtist
# Set high precision to import meshes defined in meters
compas.PRECISION = '12f'
# Load robot and its geometry
with RosClient('localhost') as ros:
robot = ros.load_robot(load_geometry=True)
robot.artist = RobotModelArtist(robot.model, layer='COMPAS::Robot Viz')
robot.artist.clear_layer()
robot.artist.draw()
import compas
from compas.robots import GithubPackageMeshLoader
from compas.robots import RobotModel
from compas_rhino.artists import RobotModelArtist
# Set high precision to import meshes defined in meters
compas.PRECISION = '12f'
# Select Github repository, package and branch where the model is stored
r = 'ros-industrial/abb'
p = 'abb_irb6600_support'
b = 'kinetic-devel'
github = GithubPackageMeshLoader(r, p, b)
urdf = github.load_urdf('irb6640.urdf')
# Create robot model from URDF
model = RobotModel.from_urdf_file(urdf)
# Also load geometry
model.load_geometry(github)
# Draw model
artist = RobotModelArtist(model, layer='COMPAS::Robot Viz')
artist.clear_layer()
artist.draw_visual()
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()
for frame in frames:
artist = FrameArtist(frame,
scale=0.3,
layer="Frames::{}".format(frame.name))
artist.clear_layer()
artist.draw()
for a, b in pairwise(frames):
line = Line(a.point, b.point)
artist = LineArtist(line, layer="Links::{}".format(a.name))
artist.draw()
tpl = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.05), 0.2)
for frame, axis in zip(frames, axes):
point = frame.point
normal = Vector(axis.x, axis.y, axis.z)
plane = Plane(point, normal)
frame = Frame.from_plane(plane)
X = Transformation.from_frame(frame)
cylinder = tpl.transformed(X)
artist = CylinderArtist(cylinder, layer="Axes::{}".format(axis.name))
artist.clear_layer()
artist.draw()
artist = RobotModelArtist(robot, layer="Robot")
artist.clear_layer()
artist.update(state, collision=False)
artist.draw()
compas_rhino.wait()
# add first link to robot
link0 = robot.add_link("world")
# add second link to robot
mesh = Mesh.from_shape(cylinder)
link1 = robot.add_link("link1", visual_mesh=mesh, visual_color=(0.2, 0.5, 0.6))
# add the joint between the links
axis = (0, 0, 1)
origin = Frame.worldXY()
robot.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin, axis)
# add another link
mesh = Mesh.from_shape(cylinder) # create a copy!
link2 = robot.add_link("link2", visual_mesh=mesh, visual_color=(0.5, 0.6, 0.2))
# add another joint to 'glue' the link to the chain
origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
robot.add_joint("joint2", Joint.CONTINUOUS, link1, link2, origin, axis)
artist = RobotModelArtist(robot)
# Exercise: Update the robot's configuration
names = ['joint1', 'joint2']
values = [0, 0]
joint_state = dict(zip(names, values))
artist.update(joint_state)
artist.draw_visual()
artist.redraw()
import compas
compas.PRECISION = '12f'
from compas.robots import *
from compas_rhino.artists import RobotModelArtist
r = 'ros-industrial/abb'
p = 'abb_irb6600_support'
b = 'kinetic-devel'
github = GithubPackageMeshLoader(r, p, b)
urdf = github.load_urdf('irb6640.urdf')
robot = RobotModel.from_urdf_file(urdf)
robot.load_geometry(github)
RobotModelArtist(robot).draw_visual()
import compas
from compas_fab.backends import RosClient
from compas_rhino.artists import RobotModelArtist
# Set high precision to import meshes defined in meters
compas.PRECISION = '12f'
with RosClient() as ros:
# Load complete model from ROS
robot = ros.load_robot(load_geometry=True)
# Visualize robot
robot.artist = RobotModelArtist(robot.model, layer='COMPAS FAB::Example')
robot.artist.clear_layer()
robot.artist.draw_visual()
head_link = model.add_link('head', visual_meshes=[head, beak])
neck_joint_origin = Frame([0, 0, 4], [1, 0, 0], [0, 1, 0])
model.add_joint('neck_joint',
Joint.FIXED,
torso_link,
head_link,
origin=neck_joint_origin)
tail = Sphere([0, 0, 0], 1)
tail_link = model.add_link('tail', visual_meshes=[tail])
tail_joint_origin = Frame([0, 0, -4], [1, 0, 0], [0, 1, 0])
model.add_joint('tail_joint',
Joint.FIXED,
torso_link,
tail_link,
origin=tail_joint_origin)
hat = Cylinder(Circle(Plane([0, 0, 0], [0, 0, 1]), .8), 1.5)
brim = Cylinder(Circle(Plane([0, 0, -1.5 / 2], [0, 0, 1]), 1.4), .1)
hat_link = model.add_link('hat', visual_meshes=[hat, brim])
hat_joint_origin = Frame([0, 0, 1 - .3 + 1.5 / 2], [1, 0, 0], [0, 1, 0])
model.add_joint('hat_joint',
Joint.FIXED,
head_link,
hat_link,
origin=hat_joint_origin)
artist = RobotModelArtist(model, layer='COMPAS::Example Robot')
artist.clear_layer()
artist.draw_visual()
# add first link to robot
link0 = model.add_link("world")
# add second link to robot
mesh = Mesh.from_shape(cylinder)
link1 = model.add_link("link1", visual_mesh=mesh, visual_color=(0.2, 0.5, 0.6))
# add the joint between the links
axis = (0, 0, 1)
origin = Frame.worldXY()
model.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin, axis)
# add another link
mesh = Mesh.from_shape(cylinder) # create a copy!
link2 = model.add_link("link2", visual_mesh=mesh, visual_color=(0.5, 0.6, 0.2))
# add another joint to 'glue' the link to the chain
origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
model.add_joint("joint2", Joint.CONTINUOUS, link1, link2, origin, axis)
# Create a configuration object matching the number of joints in your model
# configuration = ....
# Update the model using the artist
artist = RobotModelArtist(model)
# artist.update ...
# Render everything
artist.draw_visual()
artist.redraw()
from compas.geometry import Frame
from compas.robots import LocalPackageMeshLoader
from compas.robots import RobotModel
from compas_rhino.artists import RobotModelArtist
from ur_kinematics import inverse_kinematics_ur5
loader = LocalPackageMeshLoader('models', 'ur_description')
model = RobotModel.from_urdf_file(loader.load_urdf('ur5.urdf'))
model.load_geometry(loader)
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)
artist = RobotModelArtist(model, layer='COMPAS::Robot Viz')
artist.clear_layer()
for joint_values in sols:
# Create joint state dictionary
joint_names = model.get_configurable_joint_names()
joint_state = dict(zip(joint_names, joint_values))
artist.update(joint_state)
artist.draw_visual()