309_plan_cartesian_motion_ros_loader.py

from compas_fab.backends import RosClient

from compas.geometry import Frame
from compas.robots import Configuration

with RosClient('localhost') as client:
    robot = client.load_robot()
    group = robot.main_group_name

    frames = []
    frames.append(Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0]))
    frames.append(Frame([0.5, 0.1, 0.6], [1, 0, 0], [0, 1, 0]))

    start_configuration = Configuration.from_revolute_values([-0.042, 0.033, -2.174, 5.282, -1.528, 0.000])

    trajectory = robot.plan_cartesian_motion(frames,
                                             start_configuration,
                                             group=group,
                                             options=dict(
                                                 max_step=0.01,
                                                 avoid_collisions=True,
                                             ))

    print("Computed cartesian path with %d configurations, " % len(trajectory.points))
    print("following %d%% of requested trajectory." % (trajectory.fraction * 100))
    print("Executing this path at full speed would take approx. %.3f seconds." % trajectory.time_from_start)