def test_parse_from_file_data(urdf_file):
r_original = RobotModel.from_urdf_file(urdf_file)
r = RobotModel.from_data(r_original.data)
assert r is not None
assert r.name == 'panda'
def test_ur5_urdf_data(ur5_file):
r_original = RobotModel.from_urdf_file(ur5_file)
r = RobotModel.from_data(r_original.data)
assert r.name == 'ur5'
assert len(list(filter(lambda i: i.type == Joint.REVOLUTE, r.joints))) == 6
def test_parse_from_file(urdf_file):
r = RobotModel.from_urdf_file(urdf_file)
assert r is not None
assert r.name == 'panda'
def test_ur5_urdf(ur5_file):
r = RobotModel.from_urdf_file(ur5_file)
assert r.name == 'ur5'
assert len(list(filter(lambda i: i.type == Joint.REVOLUTE, r.joints))) == 6
def test_ur5_urdf_to_string(ur5_file):
r_original = RobotModel.from_urdf_file(ur5_file)
urdf = URDF.from_robot(r_original)
r = RobotModel.from_urdf_string(urdf.to_string())
assert r.name == 'ur5'
assert len(list(filter(lambda i: i.type == Joint.REVOLUTE, r.joints))) == 6
import compas
from compas.robots import GithubPackageMeshLoader
from compas.robots import RobotModel
# 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)
print(model)
except ImportError:
from io import BytesIO as ReaderIO
from urllib.request import urlopen
print('Downloading large collection of URDF from Drake project...')
print('This might take a few minutes...')
resp = urlopen(
'https://github.com/RobotLocomotion/drake/archive/master.zip')
zipfile = ZipFile(ReaderIO(resp.read()))
errors = []
all_files = []
for f in zipfile.namelist():
if f.endswith('.urdf') or f.endswith('.xacro'):
with zipfile.open(f) as urdffile:
try:
all_files.append(f)
r = RobotModel.from_urdf_file(urdffile)
urdf = URDF.from_robot(r)
r2 = RobotModel.from_urdf_string(urdf.to_string())
except Exception as e:
errors.append((f, e))
print('Found %d files and parsed successfully %d of them' %
(len(all_files), len(all_files) - len(errors)))
if len(errors):
print('\nErrors found during parsing:')
for error in errors:
print(' * File=%s, Error=%s' % error)
def test_get_configurable_joint_names(urdf_file):
model = RobotModel.from_urdf_file(urdf_file)
assert 'panda_finger_joint2' not in model.get_configurable_joint_names()
def test_ensure_geometry(urdf_file, urdf_file_with_shapes_only):
robot = RobotModel.from_urdf_file(urdf_file)
with pytest.raises(Exception):
robot.ensure_geometry()
robot = RobotModel.from_urdf_file(urdf_file_with_shapes_only)
robot.ensure_geometry()
def test_unknown_axis_attribute(urdf_with_unknown_attr):
r = RobotModel.from_urdf_file(urdf_with_unknown_attr)
assert r.joints[0].axis.attr['rpy'] == '0 0 0'
def test_unknown_axis_attribute_data(urdf_with_unknown_attr):
r_original = RobotModel.from_urdf_file(urdf_with_unknown_attr)
r = RobotModel.from_data(r_original.data)
assert r.joints[0].axis.attr['rpy'] == '0 0 0'
def test_child_link(urdf_file):
r = RobotModel.from_urdf_file(urdf_file)
assert r.joints[0].name == 'panda_joint1' # Check assumption before test
assert r.joints[0].child_link.name == 'panda_link1'
def test_get_end_effector_link_name(ur5_file):
r = RobotModel.from_urdf_file(ur5_file)
assert r.get_end_effector_link_name() == 'ee_link'
def test_root_data(urdf_file):
r_original = RobotModel.from_urdf_file(urdf_file)
r = RobotModel.from_data(r_original.data)
assert 'panda_link0' == r.root.name
def test_root(urdf_file):
r = RobotModel.from_urdf_file(urdf_file)
assert 'panda_link0' == r.root.name
def test_inertial_parser(urdf_file):
r = RobotModel.from_urdf_file(urdf_file)
assert r.links[0].inertial.origin is not None
assert r.links[0].inertial.origin.point == [0.0, 0.0, 0.5]
assert r.links[0].inertial.mass.value == 1.0
assert r.links[0].inertial.inertia.izz == 100.0
