RobotModel Packages
COMPAS FAB provides several ready-to-use robot packages that can be used for
demonstrating the capabilities of the package. These packages can be accessed from the
compas_fab.robots.RobotLibrary. The robot packages are loaded from local data
files. They contain
the robot.model, robot.semantics and meshes associated with the robot links.
The following packages are available:
Model |
Brand |
Description |
Location |
|---|---|---|---|
UR5 |
Universal Robots |
6 DOF offset-wrist robot |
|
UR10e |
Universal Robots |
6 DOF offset-wrist robot |
|
IRB 4600-40/2.55 |
ABB |
6 DOF spherical-wrist robot |
|
RFL |
ETH Arch_Tec_Lab |
Multi-robotic system with 2 gantry and 4 robotic arms |
Description of the RFL Robotic Setup (Robotic Fabrication Laboratory)
Origin of the packages
The robot packages originates from ROS MoveIt Robot Packages located in gramaziokohler/ros_docker. The docker files are composed up and extracted over ROS to a local folder structure that is compatible with the COMPAS Fab package. The convertion script can be found in the source code repository folder scripts/extact_robot_package_from_ros.py.