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)
X = Transformation.from_frame(frame)
cylinder = tpl.transformed(X)
artist = CylinderArtist(cylinder, layer="Axes::{}".format(axis.name))
artist.clear_layer()
artist.draw()
artist = RobotModelArtist(robot, layer="Robot")
artist.clear_layer()
artist.update(state, collision=False)
artist.draw()
compas_rhino.wait()
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()