def draw_frames(self, ik_index=None):
"""Returns the frames of the reachability map.
Parameters
----------
ik_index : int, optional
If passed, returns only the reachable frames at a given IK index. For a 6-axis industrial robot this
index reaches from 0 to 7 (8 solutions).
Returns
-------
list[System.Guid]
The GUIDs of the created Rhino objects.
"""
if ik_index is None:
xframes = []
for frames in self.reachability_map.frames:
xframes.append([])
for frame in frames:
xframes[-1].extend(
FrameArtist(frame, layer=self.layer,
scale=self.scale).draw())
return xframes
else:
frames, _ = self.reachability_map.reachable_frames_and_configurations_at_ik_index(
ik_index)
return [
FrameArtist(f, layer=self.layer, scale=self.scale).draw()
for f in frames
]
def draw_interface_frames(self):
"""Draw the frames of the interfaces.
"""
layer = "{}::Interfaces::Frames".format(
self.layer) if self.layer else None
compas_rhino.clear_layer(layer)
guids = []
for edge in self.assembly.edges():
interface = self.assembly.edge_attribute(edge, 'interface')
artist = FrameArtist(interface.frame, layer=layer)
guids += artist.draw()
return guids
def draw_edge_rhino(edge):
# ==============================================================================
# Use a frame artist to visualize the boundary frame.
# ==============================================================================
artist = FrameArtist(edge['frames'][0],
layer=edge['layer'] + "::Frame",
scale=0.3)
artist.clear_layer()
artist.draw()
# ==============================================================================
# Use a frame artist to visualize the frame of the intersection points.
# ==============================================================================
artist = FrameArtist(edge['frames'][1],
layer=edge['layer'] + "::Frame",
scale=0.3)
artist.clear_layer()
artist.draw()
# ==============================================================================
# Use a point artist to visualize the intersection points.
# ==============================================================================
PointArtist.draw_collection(edge['intersections'],
layer=edge['layer'] + "::Intersections",
clear=True)
# ==============================================================================
# Use a mesh artist to visualize beams
# ==============================================================================
artist = MeshArtist(None, layer=edge['layer'] + "::BBox")
artist.clear_layer()
for mesh in edge['meshes']:
artist = MeshArtist(mesh, layer=edge['layer'] + "::BBox")
artist.draw_mesh()
from compas.geometry import Transformation
from compas.geometry import Box
from compas.datastructures import Mesh
from compas_rhino.artists import FrameArtist
from compas_rhino.artists import MeshArtist
# Box in the world coordinate system
frame = Frame([1, 0, 0], [-0.45, 0.1, 0.3], [1, 0, 0])
width, length, height = 1, 1, 1
box = Box(frame, width, length, height)
# Frame F representing a coordinate system
F = Frame([2, 2, 2], [0.978, 0.010, -0.210], [0.090, 0.882, 0.463])
# Get transformation between frames and apply transformation on box.
T = Transformation.from_frame_to_frame(Frame.worldXY(), F)
box_transformed = box.transformed(T)
print("Box frame transformed", box_transformed.frame)
# create artists
artist1 = FrameArtist(Frame.worldXY())
artist2 = MeshArtist(Mesh.from_shape(box))
artist3 = FrameArtist(F)
artist4 = MeshArtist(Mesh.from_shape(box_transformed))
# draw
artist1.draw()
artist2.draw_faces()
artist3.draw()
artist4.draw_faces()
from compas_rhino.artists import FrameArtist, PlaneArtist from compas.datastructures import Mesh # Define a Frame, which is not in the origin and a bit tilted to the world frame frame = Frame.from_plane(Plane([20, 40, 60], [0, 1, 1])) p = Plane(Point(0, 0, 0), [0, 0, 1]) d = 1, 0, 1 # Create a Box with that frame box = Box(frame, 10, 15, 20) # Create a Projection (can be orthogonal, parallel or perspective) P = Projection.from_plane_and_direction(p, d) # P = matrix_from_parallel_projection(p, d) # Create a Mesh from the Box mesh = Mesh.from_shape(box) ## Apply the Projection onto the mesh mesh_projected = mesh.transformed(P) # Create artists artist1 = BoxArtist(box) artist2 = MeshArtist(mesh_projected) artist3 = FrameArtist(frame) # Draw artist1.draw() artist2.draw_edges(color="#00ff00") artist3.draw()
axes = []
for joint in joints:
frame = joint.origin.transformed(transformations[joint.name])
frame.name = joint.name
frames.append(frame)
axis = joint.axis.transformed(transformations[joint.name])
axis.name = joint.name
axes.append(axis)
# Visualization
for frame in frames:
artist = FrameArtist(frame,
scale=0.3,
layer="Frames::{}".format(frame.name))
artist.clear_layer()
artist.draw()
for a, b in pairwise(frames):
line = Line(a.point, b.point)
artist = LineArtist(line, layer="Links::{}".format(a.name))
artist.draw()
tpl = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.05), 0.2)
for frame, axis in zip(frames, axes):
point = frame.point
normal = Vector(axis.x, axis.y, axis.z)
plane = Plane(point, normal)
frame = Frame.from_plane(plane)
-2, 2, 1)) # parallel projection
P5 = Projection.from_plane_and_point(planexy,
Point(3, -3,
-1)) # perspective Projection
# Create a Mesh from the Box
mesh = Mesh.from_shape(box)
# Apply the Projection onto the mesh
mesh_projected3 = mesh.transformed(P3)
mesh_projected4 = mesh.transformed(P4)
mesh_projected5 = mesh.transformed(P5)
# Create artists
artist1 = BoxArtist(box)
artist2 = FrameArtist(frame)
artist3 = MeshArtist(mesh_projected3, layer="P3")
artist4 = MeshArtist(mesh_projected4, layer="P4")
artist5 = MeshArtist(mesh_projected5, layer="P5")
#clear layers
artistl = [artist1, artist2, artist3, artist4, artist5]
for arty in artistl:
arty.clear_layer()
# Draw
artist1.draw()
artist2.draw()
artist3.draw_edges(color="#00ffa0")
artist4.draw_edges(color=(200, 0, 0))
artist5.draw_edges(color=(200, 100, 0))
bbox = bounding_box_xy(points)
bbox = offset_polygon(bbox, -PADDING)
bbox = transform_points(bbox, X.inverse())
# ==============================================================================
# Convert the box to a mesh for visualisation.
# ==============================================================================
bbox = Mesh.from_vertices_and_faces(bbox, [[0, 1, 2, 3]])
# ==============================================================================
# Use a frame artist to visualize the boundary frame.
# ==============================================================================
artist = FrameArtist(frame, layer="SOUTH::Frame", scale=0.3)
artist.clear_layer()
artist.draw()
# ==============================================================================
# Use a point artist to visualize the intersection points.
# ==============================================================================
PointArtist.draw_collection(intersections,
layer="SOUTH::Intersections",
clear=True)
# ==============================================================================
# Use a frame artist to visualize the frame of the intersection points.
# ==============================================================================
frames = []
axes = []
for joint in robot.iter_joints():
frame = joint.origin.transformed(transformations[joint.name])
frame.name = joint.name
frames.append(frame)
axis = joint.axis.transformed(transformations[joint.name])
axis.name = joint.name
axes.append(axis)
for frame in frames:
artist = FrameArtist(frame,
scale=0.3,
layer="Frames::{}".format(frame.name))
artist.clear_layer()
artist.draw()
tpl = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.05), 0.2)
for frame, axis in zip(frames, axes):
point = frame.point
normal = Vector(axis.x, axis.y, axis.z)
plane = Plane(point, normal)
frame = Frame.from_plane(plane)
X = Transformation.from_frame(frame)
cylinder = tpl.transformed(X)
artist = CylinderArtist(cylinder, layer="Axes::{}".format(axis.name))
artist.clear_layer()
artist.draw()
x = Transformation.from_frame_to_frame(frame_1, Frame.worldXY())
points2 = transform_points(points, x)
bbox = bounding_box_xy(points2)
bbox = offset_polygon(bbox, -PADDING)
bbox = transform_points(bbox, x.inverse())
all_vertices.extend(bbox)
all_faces.append([i * 4, i * 4 + 1, i * 4 + 2, i * 4 + 3])
bbox = Mesh.from_vertices_and_faces(all_vertices, all_faces)
# ==============================================================================
# Visualization
# ==============================================================================
artist = FrameArtist(frame, layer="SOUTH::Frame", scale=0.3)
artist.clear_layer()
artist.draw()
artist = FrameArtist(frame_1, layer="SOUTH::Frame_1", scale=0.3)
artist.clear_layer()
artist.draw()
artist = MeshArtist(bbox, layer="SOUTH::Bbox1")
artist.clear_layer()
artist.draw_faces(join_faces=True, color=(0, 255, 255))
PointArtist.draw_collection(intersections,
layer="SOUTH::intersections",
clear=True)
from compas.robots import LocalPackageMeshLoader
from compas.robots import RobotModel
from compas_rhino.artists import FrameArtist
from compas_rhino.artists import RobotModelArtist
loader = LocalPackageMeshLoader('models', 'ur_description')
model = RobotModel.from_urdf_file(loader.load_urdf('ur5.urdf'))
model.load_geometry(loader)
joints = dict(shoulder_pan_joint=0,
shoulder_lift_joint=0,
elbow_joint=0,
wrist_1_joint=0,
wrist_2_joint=0,
wrist_3_joint=0)
frame = model.forward_kinematics(joints)
artist = FrameArtist(frame, layer='COMPAS::Robot Viz')
artist.clear_layer()
artist.draw()
artist = RobotModelArtist(model, layer='COMPAS::Robot Viz')
artist.update(joints)
artist.draw_visual()
point = [0, 0, 0] normal = [0, 0, -1] plane = Plane(point, normal) direction = [2, -2, 1] P = Projection.from_plane_and_direction(plane, direction) # Create a Mesh from the Box mesh = Mesh.from_shape(box) tmesh = Mesh.from_shape(box_transformed) # Apply the Projection onto the mesh mesh_projected = tmesh.transformed(P) # clear layer artist = BoxArtist(box, layer="Default") artist.clear_layer() # defining Artists artist1 = BoxArtist(box) artist2 = BoxArtist(box_transformed) artist3 = MeshArtist(mesh_projected) artist4 = FrameArtist(frame, scale=1.0) artist5 = FrameArtist(frame1, scale=1.0) # Draw artist1.draw() artist2.draw() artist3.draw_edges(color="#00ffff") artist4.draw() artist5.draw()
