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217_inverse_kinematics.ghx
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217_inverse_kinematics.ghx
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<item name="CodeInput" type_name="gh_string" type_code="10">from scriptcontext import sticky as st
import os
import compas
from compas.robots import LocalPackageMeshLoader
from compas.robots import RobotModel
from compas.artists import Artist
# Robot meshes are usually in meters
# Set a high percision to prevent parsing errors
# and configure Rhino itself in meters
compas.PRECISION = '12f'
# Store robot in component-based key
model_key = 'model_{}'.format(str(ghenv.Component.InstanceGuid))
artist_key = 'artist_{}'.format(str(ghenv.Component.InstanceGuid))
ghfile = ghenv.Component.OnPingDocument().FilePath
models_path = os.path.join(os.path.dirname(ghfile), 'models')
loader = LocalPackageMeshLoader(models_path, 'ur_description')
if model_key not in st:
st[model_key] = None
if artist_key not in st:
st[artist_key] = None
if load:
print('here')
model = RobotModel.from_urdf_file(loader.load_urdf('ur5.urdf'))
model.load_geometry(loader)
artist = Artist(model)
st[model_key] = model
st[artist_key] = artist
model = st[model_key]
artist = st[artist_key]
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