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Robot models

Robot models can be programatically defined, as shown in the previous examples, but in most cases, they are loaded from an existing location. COMPAS FAB supports loading models from local files, from remote Github repositories as well as from a running ROS instance.

Loading model from disk

The installation of COMPAS FAB includes some robot models which are used to exemplify loading from disk:

.. literalinclude :: files/02_robot_from_disk.py
   :language: python

Loading model from Github

Since a large amount of robot models defined in URDF are available on Github, COMPAS FAB provides a specialized loader that follows the conventions defined by ROS to locate a Robot's model and geometry files.

.. literalinclude :: files/02_robot_from_github.py
   :language: python

Loading model from ROS

Note

The following example uses the ROS backend and loads the robot description model from it. Before running it, please make sure you have the :ref:`ROS backend <ros_backend>` correctly configured and the :ref:`Panda Demo <ros_bundles_list>` started.

In most situations, we will load the robot model directly from a running ROS instance. The following code exemplifies how to do that.

.. literalinclude :: files/02_robot_from_ros.py
   :language: python

Note

For more details about ROS, go to the :ref:`ROS Examples <ros_examples>`.

Additionally, the ROS loader allows to cache the results locally for faster reloads, to enable this behavior, pass an argument with the folder where the cache should be stored:

.. literalinclude :: files/02_robot_from_ros_with_cache.py
   :language: python

Visualizing robot models

Once a model is loaded, we can visualize it in our favorite design environment.

COMPAS includes the concept of scene objects: classes that assist with the visualization of datastructures and models, in a way that maintains the data separated from the specific CAD interfaces, while providing a way to leverage native performance of the CAD environment.

We use the compas_robots extension and its RobotModelObject to visualize robots easily and efficiently.

The following example illustrates how to load an entire robot model from ROS and render it in Rhino:

.. literalinclude :: files/03_robot_rhino_from_ros.py
   :language: python