def RunScript(self, robot, group, trajectory):
start_configuration = None
configurations = []
fraction = 0.
time = 0.
planes = []
positions = []
velocities = []
accelerations = []
if robot and trajectory:
group = group or robot.main_group_name
for c in trajectory.points:
configurations.append(robot.merge_group_with_full_configuration(c, trajectory.start_configuration, group))
frame = robot.forward_kinematics(c, group, options=dict(solver='model'))
planes.append(draw_frame(frame))
positions.append(c.positions)
velocities.append(c.velocities)
accelerations.append(c.accelerations)
start_configuration = trajectory.start_configuration
fraction = trajectory.fraction
time = trajectory.time_from_start
P = list_to_ghtree(list(zip(*positions)))
V = list_to_ghtree(list(zip(*velocities)))
A = list_to_ghtree(list(zip(*accelerations)))
# return outputs if you have them; here I try it for you:
return (start_configuration, configurations, fraction, time, planes, P, V, A)
def draw(self):
"""Draw the frame.
Returns
-------
:class:`Rhino.Geometry.Plane`
"""
return compas_ghpython.draw_frame(self.primitive)