View2: robot from docker-ros with wrong position

compas
1

This is a copy of issue: Robot from docker-ros with wrong position · Issue #166 · compas-dev/compas_view2 · GitHub

Robot from docker-ros with the wrong position

I am running a code very similar to v120_robot.py with the only change that the robot is not from GitHub but docker-ros:

with RosClient() as ros:
    robot = ros.load_robot(load_geometry=True)
model = robot.model

While the robot is positional wrong:

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image836×733 51 KB

I tried different docker files, but the results remain incorrect.

2

also, the below code is also not working with NotImplementedError: Mesh type not supported: dae

from compas_view2.app import App
from compas.robots import LocalPackageMeshLoader
from compas.robots import RobotModel
import compas_fab

urdf = compas_fab.get('universal_robot/ur_description/urdf/ur10.urdf')

model = RobotModel.from_urdf_file(urdf)

# Also load geometry
loader = LocalPackageMeshLoader(compas_fab.get('universal_robot'), 'ur_description')
model.load_geometry(loader)

viewer = App()

robot_object = viewer.add(model)

viewer.run()
3

Hi Zac,

Will take a deeper look later, but if you do not load geometry, does the joints and axis looks correct? Should be something like this:

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image1032×776 54 KB

4

not sure, i tunned the joint values into all zero and it looks not correct :frowning:


from compas_view2.app import App
from compas.geometry import Box
from compas.geometry import Frame

from compas_fab.backends import RosClient

with RosClient() as ros:
    robot = ros.load_robot(load_geometry=False)
model = robot.model

viewer = App(viewmode="lighted", enable_sceneform=True, enable_sidebar=True, width=2000, height=1000)

robotObj = viewer.add(model)

end_effector_link_obj = robotObj.link_objs[model.get_end_effector_link_name()]
end_effector_link_obj.add(Box(Frame([0, 0, 0.25], [1, 0, 0], [0, 1, 0]), 0.2, 0.2, 0.5), name="end_effector_dummy_box")

for joint_name in model.get_configurable_joint_names():
    robotObj.rotate_joint(joint_name, 0)


viewer.show()

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image1135×530 38.9 KB

5

Hey Zac, I’ve able to find the reason. It is because the visual geometry of robots some times have different origin than the joint itself. I will make a new release to fix this in the Robot object. But for now you can use this custom script to load ROS robots correctly.

from compas_view2.app import App
from compas_view2.collections import Collection

import itertools

from compas.geometry import Transformation
from compas.geometry import Rotation
from compas.robots import Geometry
from math import radians

from compas_fab.backends import RosClient

with RosClient() as ros:
    robot = ros.load_robot(load_geometry=True)
    print(robot.model)
    model = robot.model


viewer = App(viewmode="lighted", enable_sceneform=True, enable_propertyform=True, enable_sidebar=True, width=2000, height=1000)

def create(link, parent=None, parent_joint=None):

    obj = None
    meshes = []
    for item in itertools.chain(link.visual):
        meshes.extend(Geometry._get_item_meshes(item))
        if item.origin:
            for mesh in meshes:
                mesh.transform(Transformation.from_frame(item.origin))

    obj = parent.add(Collection(meshes), name=link.name, show_lines=False)

    if parent_joint:
        obj.matrix = Transformation.from_frame(parent_joint.origin).matrix

        @viewer.slider(title=parent_joint.name, minval=-180 , maxval=180)
        def rotate(angle):
            T = Transformation.from_frame(parent_joint.origin)
            R = Rotation.from_axis_and_angle(parent_joint.axis.vector, radians(angle))
            obj.matrix = (T * R).matrix
            viewer.view.update()

    for joint in link.joints:
        create(joint.child_link, parent = obj, parent_joint=joint)

create(model.root, viewer)

viewer.show()

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image1342×785 99.8 KB

1 Like
6

Super! Thank you very much for the solution! :slight_smile: