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)
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")
# cutting process
compas_rhino.rs.Redraw()
for i, j in pairwise(range(len(left_poly.points))):
left_start = left_poly.points[i]
left_stop = left_poly.points[j]
left_vector = left_stop - left_start
right_start = right_poly.points[i]
right_stop = right_poly.points[j]
right_vector = right_stop - right_start
for i in linspace(0, 1, 50):
a = left_start + left_vector * i
b = right_start + right_vector * i
line = Line(a, b)
artist = LineArtist(line,
color=(255, 255, 255),
layer="ITA20::HotWire::CutLines")
artist.clear_layer()
artist.draw()
compas_rhino.rs.Redraw()
compas_rhino.wait()
polygon = Polygon([left_start, right_start, right_stop, left_stop])
artist = PolygonArtist(polygon,
color=(255, 255, 255),
layer="ITA20::HotWire::CutPlane")
artist.draw()
plane = point, normal
radius = mesh.attributes['radius'][ring]
circle = Circle(plane, radius)
artist = CircleArtist(circle,
color=(255, 255, 255),
layer="HiLo::Cablenet::Rings")
artist.draw()
# ==============================================================================
# Visualize Internal Cables
# ==============================================================================
for bracket1, cable, bracket2 in internal:
artist = LineArtist(bracket1,
color=(0, 255, 255),
layer="HiLo::Cablenet::Cables::Internal")
artist.draw()
artist = LineArtist(cable,
color=(0, 0, 255),
layer="HiLo::Cablenet::Cables::Internal")
artist.draw()
artist = LineArtist(bracket2,
color=(0, 255, 255),
layer="HiLo::Cablenet::Cables::Internal")
artist.draw()
# ==============================================================================
# Visualize Boundary Cables