def test_plot_mesh_smoke_with_scale():
if not matplotlib_available:
raise SkipTest("matplotlib is required for this test")
BASE_DIR = "test/test_data/"
tm = UrdfTransformManager()
with open(BASE_DIR + "simple_mechanism.urdf", "r") as f:
tm.load_urdf(f.read(), mesh_path=BASE_DIR)
tm.set_joint("joint", -1.1)
ax = tm.plot_frames_in(
"lower_cone", s=0.1, whitelist=["upper_cone", "lower_cone"], show_name=True)
ax = tm.plot_connections_in("lower_cone", ax=ax)
tm.plot_visuals("lower_cone", ax=ax)
def test_plot_without_mesh():
if not matplotlib_available:
raise SkipTest("matplotlib is required for this test")
BASE_DIR = "test/test_data/"
tm = UrdfTransformManager()
with open(BASE_DIR + "simple_mechanism.urdf", "r") as f:
tm.load_urdf(f.read(), mesh_path=None)
tm.set_joint("joint", -1.1)
ax = tm.plot_frames_in(
"lower_cone", s=0.1, whitelist=["upper_cone", "lower_cone"], show_name=True)
ax = tm.plot_connections_in("lower_cone", ax=ax)
with warnings.catch_warnings(record=True) as w:
tm.plot_visuals("lower_cone", ax=ax)
assert_equal(len(w), 1)
def test_plot_mesh_smoke_without_scale():
if not matplotlib_available:
raise SkipTest("matplotlib is required for this test")
urdf = """
<?xml version="1.0"?>
<robot name="simple_mechanism">
<link name="upper_cone">
<visual name="upper_cone">
<origin xyz="0 0 0" rpy="0 1.5708 0"/>
<geometry>
<mesh filename="cone.stl"/>
</geometry>
</visual>
</link>
<link name="lower_cone">
<visual name="lower_cone">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="cone.stl"/>
</geometry>
</visual>
</link>
<joint name="joint" type="revolute">
<origin xyz="0 0 0.2" rpy="0 0 0"/>
<parent link="lower_cone"/>
<child link="upper_cone"/>
<axis xyz="1 0 0"/>
<limit lower="-2.79253" upper="2.79253" effort="0" velocity="0"/>
</joint>
</robot>
"""
BASE_DIR = "test/test_data/"
tm = UrdfTransformManager()
tm.load_urdf(urdf, mesh_path=BASE_DIR)
tm.set_joint("joint", -1.1)
ax = tm.plot_frames_in("lower_cone",
s=0.1,
whitelist=["upper_cone", "lower_cone"],
show_name=True)
ax = tm.plot_connections_in("lower_cone", ax=ax)
tm.plot_visuals("lower_cone", ax=ax)
def test_plot_mesh_smoke_with_package_dir():
if not matplotlib_available:
raise SkipTest("matplotlib is required for this test")
urdf = """
<?xml version="1.0"?>
<robot name="simple_mechanism">
<link name="cone">
<visual name="cone">
<origin xyz="0 0 0" rpy="0 1.5708 0"/>
<geometry>
<mesh filename="package://test/test_data/cone.stl"/>
</geometry>
</visual>
</link>
</robot>
"""
tm = UrdfTransformManager()
tm.load_urdf(urdf, package_dir="./")
tm.plot_visuals("cone")
"""
print(__doc__)
import os
import numpy as np
import matplotlib.pyplot as plt
from pytransform3d.urdf import UrdfTransformManager
BASE_DIR = "test/test_data/"
data_dir = BASE_DIR
search_path = "."
while (not os.path.exists(data_dir) and
os.path.dirname(search_path) != "pytransform3d"):
search_path = os.path.join(search_path, "..")
data_dir = os.path.join(search_path, BASE_DIR)
tm = UrdfTransformManager()
filename = os.path.join(data_dir, "robot_with_visuals.urdf")
with open(filename, "r") as f:
robot_urdf = f.read()
tm.load_urdf(robot_urdf, mesh_path=data_dir)
tm.set_joint("joint2", 0.2 * np.pi)
tm.set_joint("joint3", 0.2 * np.pi)
tm.set_joint("joint5", 0.1 * np.pi)
tm.set_joint("joint6", 0.5 * np.pi)
tm.plot_visuals("robot_arm", ax_s=0.6, alpha=0.7)
plt.show()
This example shows how to load a URDF with STL meshes. This example must be
run from within the examples folder or the main folder because it uses a
hard-coded path to the URDF file and the meshes.
"""
import os
import matplotlib.pyplot as plt
from pytransform3d.urdf import UrdfTransformManager
BASE_DIR = "test/test_data/"
data_dir = BASE_DIR
search_path = "."
while (not os.path.exists(data_dir)
and os.path.dirname(search_path) != "pytransform3d"):
search_path = os.path.join(search_path, "..")
data_dir = os.path.join(search_path, BASE_DIR)
tm = UrdfTransformManager()
with open(os.path.join(data_dir, "simple_mechanism.urdf"), "r") as f:
tm.load_urdf(f.read(), mesh_path=data_dir)
tm.set_joint("joint", -1.1)
ax = tm.plot_frames_in("lower_cone",
s=0.1,
whitelist=["upper_cone", "lower_cone"],
show_name=True)
ax = tm.plot_connections_in("lower_cone", ax=ax)
tm.plot_visuals("lower_cone", ax=ax)
ax.set_xlim((-0.1, 0.15))
ax.set_ylim((-0.1, 0.15))
ax.set_zlim((0.0, 0.25))
plt.show()