ex20_robot_model.py

"""
Creates a robot model programmatically, in-memory.
"""
from compas.robots import RobotModel
from compas.robots import Joint
from compas.robots import Link

robot = RobotModel('ur5',
                   joints=[
                       Joint('shoulder_pan_joint', 'revolute', parent='base_link', child='shoulder_link'),
                       Joint('shoulder_lift_joint', 'revolute', parent='shoulder_link', child='upper_arm_link'),
                       Joint('elbow_joint', 'revolute', parent='upper_arm_link', child='forearm_link'),
                       Joint('wrist_1_joint', 'revolute', parent='forearm_link', child='wrist_1_link'),
                       Joint('wrist_2_joint', 'revolute', parent='wrist_1_link', child='wrist_2_link'),
                       Joint('wrist_3_joint', 'revolute', parent='wrist_2_link', child='wrist_3_link'),
                   ], links=[
                       Link('base_link'),
                       Link('shoulder_link'),
                       Link('upper_arm_link'),
                       Link('forearm_link'),
                       Link('wrist_1_link'),
                       Link('wrist_2_link'),
                       Link('wrist_3_link'),
                   ])
print(robot)