def concatenate():
trans1 = [1, 2, 3]
angle1 = [-2.142, 1.141, -0.142]
T1 = Translation(trans1)
R1 = Rotation.from_euler_angles(angle1)
M1 = T1.concatenate(R1)
assert np.allclose(M1, T1 * R1)
ANGLES = [radians(1), radians(-1), radians(2), radians(-2)]
# load an assembly
assembly = Assembly.from_json(compas_assembly.get('stack.json'))
# shift and rotate in random directions
# use small increments ("imperfections")
for key in assembly.vertices():
block = assembly.blocks[key]
R = Rotation.from_axis_and_angle(choice(XYZ), choice(ANGLES), block.centroid())
T = Translation(scale_vector(choice(XYZ), choice([0.01, -0.01])))
mesh_transform(block, T.concatenate(R))
# serialise
assembly.to_json(compas_assembly.get('assembly.json'))
# visualise
R = Rotation.from_axis_and_angle([1.0, 0, 0], -pi / 2)
assembly_transform(assembly, R)
plotter = AssemblyPlotter(assembly, tight=True)
plotter.draw_vertices(text={key: str(key) for key, attr in assembly.vertices(True)})
plotter.draw_blocks(
facecolor={key: '#ff0000' for key in assembly.vertices_where({'is_support': True})}
