def __init__(self, plant, scene_graph, diagram):
self.plant = plant
self.scene_graph = scene_graph
self.diagram = diagram
# Assumes single DOF per Joint.
joints = []
for i in range(plant.num_joints()):
joint = plant.get_joint(JointIndex(i))
assert joint.name(), joint.name()
if joint.num_positions() == 0:
continue
assert joint.num_positions() == 1, (joint, joint.name())
assert isinstance(joint, self._acceptable_joints)
joints.append(joint)
self._joint_map = {}
self._joint_names = []
joints = sorted(joints, key=lambda x: x.position_start())
for joint in joints:
self._joint_names.append(joint.name())
self._joint_map[joint.name()] = joint
# Get frames.
nf = plant.num_frames()
self._frames = []
for i in range(nf):
frame = plant.get_frame(FrameIndex(i))
if frame.name() and not frame.name().startswith("_"):
self._frames.append(frame)
assert len(self._frames) > 0
def MakeNamedViewPositions(mbp, view_name):
names = [None] * mbp.num_positions()
for ind in range(mbp.num_joints()):
joint = mbp.get_joint(JointIndex(ind))
for i in range(joint.num_positions()):
names[joint.position_start() + i] = \
f"{joint.name()}_{joint.position_suffix(i)}"
for ind in mbp.GetFloatingBaseBodies():
body = mbp.get_body(ind)
start = body.floating_positions_start()
for i in range(7):
names[start + i] = body.name() + body.floating_position_suffix(i)
return namedview(view_name, names)
def MakeNamedViewVelocities(mbp, view_name):
names = [None] * mbp.num_velocities()
for ind in range(mbp.num_joints()):
joint = mbp.get_joint(JointIndex(ind))
for i in range(joint.num_velocities()):
names[joint.velocity_start() + i] = \
f"{joint.name()}_{joint.velocity_suffix(i)}"
for ind in mbp.GetFloatingBaseBodies():
body = mbp.get_body(ind)
start = body.floating_velocities_start()
for i in range(6):
names[start +
i] = f"{body.name()}_{body.floating_velocity_suffix(i)}"
return namedview(view_name, names)
def test_multibody_plant_api_via_parsing(self):
# TODO(eric.cousineau): Decouple this when construction can be done
# without parsing.
# This a subset of `multibody_plant_sdf_parser_test.cc`.
file_name = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf")
plant = MultibodyPlant(time_step=0.01)
model_instance = Parser(plant).AddModelFromFile(file_name)
self.assertIsInstance(model_instance, ModelInstanceIndex)
plant.Finalize()
benchmark = MakeAcrobotPlant(AcrobotParameters(), True)
self.assertEqual(plant.num_bodies(), benchmark.num_bodies())
self.assertEqual(plant.num_joints(), benchmark.num_joints())
self.assertEqual(plant.num_actuators(), benchmark.num_actuators())
self.assertEqual(plant.num_model_instances(),
benchmark.num_model_instances() + 1)
self.assertEqual(plant.num_positions(), benchmark.num_positions())
self.assertEqual(plant.num_positions(model_instance=model_instance),
benchmark.num_positions())
self.assertEqual(plant.num_velocities(), benchmark.num_velocities())
self.assertEqual(plant.num_multibody_states(),
benchmark.num_multibody_states())
self.assertEqual(plant.num_actuated_dofs(),
benchmark.num_actuated_dofs())
self.assertTrue(plant.is_finalized())
self.assertTrue(plant.HasBodyNamed(name="Link1"))
self.assertTrue(
plant.HasBodyNamed(name="Link1", model_instance=model_instance))
self.assertTrue(plant.HasJointNamed(name="ShoulderJoint"))
self.assertTrue(
plant.HasJointNamed(name="ShoulderJoint",
model_instance=model_instance))
shoulder = plant.GetJointByName(name="ShoulderJoint")
self._test_joint_api(shoulder)
np.testing.assert_array_equal(shoulder.position_lower_limits(),
[-np.inf])
np.testing.assert_array_equal(shoulder.position_upper_limits(),
[np.inf])
self.assertIs(
shoulder,
plant.GetJointByName(name="ShoulderJoint",
model_instance=model_instance))
self._test_joint_actuator_api(
plant.GetJointActuatorByName(name="ElbowJoint"))
self._test_body_api(plant.GetBodyByName(name="Link1"))
self.assertIs(
plant.GetBodyByName(name="Link1"),
plant.GetBodyByName(name="Link1", model_instance=model_instance))
self.assertEqual(len(plant.GetBodyIndices(model_instance)), 2)
self._test_frame_api(plant.GetFrameByName(name="Link1"))
self.assertIs(
plant.GetFrameByName(name="Link1"),
plant.GetFrameByName(name="Link1", model_instance=model_instance))
self.assertEqual(model_instance,
plant.GetModelInstanceByName(name="acrobot"))
self.assertIsInstance(plant.get_actuation_input_port(), InputPort)
self.assertIsInstance(plant.get_state_output_port(), OutputPort)
# Smoke test of deprecated methods.
with catch_drake_warnings(expected_count=2):
plant.get_continuous_state_output_port()
plant.get_continuous_state_output_port(model_instance)
self.assertIsInstance(plant.get_contact_results_output_port(),
OutputPort)
self.assertIsInstance(plant.num_frames(), int)
self.assertIsInstance(plant.get_body(body_index=BodyIndex(0)), Body)
self.assertIs(shoulder, plant.get_joint(joint_index=JointIndex(0)))
self.assertIsInstance(
plant.get_joint_actuator(actuator_index=JointActuatorIndex(0)),
JointActuator)
self.assertIsInstance(plant.get_frame(frame_index=FrameIndex(0)),
Frame)
self.assertEqual(
"acrobot",
plant.GetModelInstanceName(model_instance=model_instance))
def __init__(self,
meshcat,
plant,
root_context=None,
lower_limit=-10.,
upper_limit=10.,
resolution=0.01):
"""
Creates an meshcat slider for each joint in the plant.
Args:
meshcat: A Meshcat instance.
plant: A MultibodyPlant. publishing_system: The System whose
Publish method will be called. Can be the entire
Diagram, but can also be a subsystem.
root_context: A mutable root Context of the Diagram containing the
``plant``; we will extract the subcontext's using
`GetMyContextFromRoot`.
lower_limit: A scalar or vector of length robot.num_positions().
The lower limit of the slider will be the maximum
value of this number and any limit specified in the
Joint.
upper_limit: A scalar or vector of length robot.num_positions().
The upper limit of the slider will be the minimum
value of this number and any limit specified in the
Joint.
resolution: A scalar or vector of length robot.num_positions()
that specifies the step argument of the FloatSlider.
"""
LeafSystem.__init__(self)
def _broadcast(x, num):
x = np.array(x)
assert len(x.shape) <= 1
return np.array(x) * np.ones(num)
lower_limit = _broadcast(lower_limit, plant.num_positions())
upper_limit = _broadcast(upper_limit, plant.num_positions())
resolution = _broadcast(resolution, plant.num_positions())
self._meshcat = meshcat
self._plant = plant
plant_context = plant.GetMyContextFromRoot(root_context) if \
root_context else plant.CreateDefaultContext()
self._sliders = {}
self._positions = plant.GetPositions(plant_context)
slider_num = 0
for i in range(plant.num_joints()):
joint = plant.get_joint(JointIndex(i))
low = joint.position_lower_limits()
upp = joint.position_upper_limits()
for j in range(joint.num_positions()):
index = joint.position_start() + j
description = joint.name()
if joint.num_positions() > 1:
description += '_' + joint.position_suffix(j)
meshcat.AddSlider(value=self._positions[index],
min=max(low[j], lower_limit[slider_num]),
max=min(upp[j], upper_limit[slider_num]),
step=resolution[slider_num],
name=description)
self._sliders[index] = description
slider_num += 1
port = self.DeclareVectorOutputPort("positions", plant.num_positions(),
self.DoCalcOutput)
port.disable_caching_by_default()
def __init__(self,
robot,
lower_limit=-10.,
upper_limit=10.,
resolution=0.01,
length=200,
update_period_sec=0.005):
""""
Args:
robot: A MultibodyPlant.
lower_limit: A scalar or vector of length robot.num_positions().
The lower limit of the slider will be the maximum
value of this number and any limit specified in the
Joint.
upper_limit: A scalar or vector of length robot.num_positions().
The upper limit of the slider will be the minimum
value of this number and any limit specified in the
Joint.
resolution: A scalar or vector of length robot.num_positions()
that specifies the discretization of the slider.
length: The length of the sliders.
update_period_sec: Specifies how often the window update() method
gets called.
"""
VectorSystem.__init__(self, 0, robot.num_positions())
# The widgets themselves have undeclared state. For now, we accept it,
# and simply disable caching on the output port.
self.get_output_port(0).disable_caching_by_default()
def _reshape(x, num):
x = np.array(x)
assert len(x.shape) <= 1
return np.array(x) * np.ones(num)
lower_limit = _reshape(lower_limit, robot.num_positions())
upper_limit = _reshape(upper_limit, robot.num_positions())
resolution = _reshape(resolution, robot.num_positions())
# Schedule window updates in either case (new or existing window):
self.DeclarePeriodicPublish(update_period_sec, 0.0)
self._slider = []
self._slider_position_start = []
context = robot.CreateDefaultContext()
self._default_position = robot.GetPositions(context)
k = 0
for i in range(0, robot.num_joints()):
joint = robot.get_joint(JointIndex(i))
low = joint.position_lower_limits()
upp = joint.position_upper_limits()
for j in range(0, joint.num_positions()):
index = joint.position_start() + j
description = joint.name()
if joint.num_positions() > 1:
description += f"[{j}]"
self._slider_position_start.append(index)
self._slider.append(
FloatSlider(value=self._default_position[index],
min=max(low[j], lower_limit[k]),
max=min(upp[j], upper_limit[k]),
step=resolution[k],
continuous_update=True,
description=description,
style={'description_width': 'initial'},
layout=Layout(width=f"'{length}'")))
display(self._slider[k])
k += 1
def MakeJointSlidersThatPublishOnCallback(plant,
publishing_system,
root_context,
my_callback=None,
lower_limit=-10.,
upper_limit=10.,
resolution=0.01,
length=200,
continuous_update=True):
"""
Creates an ipywidget slider for each joint in the plant. Unlike the
JointSliders System, we do not expect this to be used in a Simulator. It
simply updates the context and calls Publish directly from the slider
callback.
Args:
plant: A MultibodyPlant.
publishing_system: The System whose Publish method will be called. Can
be the entire Diagram, but can also be a subsystem.
root_context: A mutable root Context of the Diagram containing both the
``plant`` and the ``publishing_system``; we will extract
the subcontext's using `GetMyContextFromRoot`.
my_callback: An optional additional callback function that will be
called once immediately and again whenever the sliders
are moved, using ``my_callback(plant_context)``. This
can be useful, e.g. for outputting text that prints the
current end-effector Jacobian, or for showing a rendered
image from a camera.
lower_limit: A scalar or vector of length robot.num_positions().
The lower limit of the slider will be the maximum
value of this number and any limit specified in the
Joint.
upper_limit: A scalar or vector of length robot.num_positions().
The upper limit of the slider will be the minimum
value of this number and any limit specified in the
Joint.
resolution: A scalar or vector of length robot.num_positions()
that specifies the step argument of the FloatSlider.
length: The length of the sliders, which will be passed as a
string to the CSS width field and can be any valid CSS
entry (e.g. 100, 100px).
continuous_update: The continuous_update field for the FloatSliders.
The default ``True`` means that this method will publish/
callback as the sliders are dragged. ``False`` means
that the publish/callback will only happen once the user
finishes dragging the slider.
Returns:
A list of the slider widget objects that are created.
Note: Some publishers (like MeshcatVisualizer) use an initialization event
to "load" the geometry. You should call that *before* calling this method
(e.g. with `meshcat.load()`).
"""
def _broadcast(x, num):
x = np.array(x)
assert len(x.shape) <= 1
return np.array(x) * np.ones(num)
lower_limit = _broadcast(lower_limit, plant.num_positions())
upper_limit = _broadcast(upper_limit, plant.num_positions())
resolution = _broadcast(resolution, plant.num_positions())
publishing_context = publishing_system.GetMyContextFromRoot(root_context)
plant_context = plant.GetMyContextFromRoot(root_context)
positions = plant.GetPositions(plant_context)
# Publish once immediately.
publishing_system.Publish(publishing_context)
if my_callback:
my_callback(plant_context)
def _slider_callback(change, index):
positions[index] = change.new
plant.SetPositions(plant_context, positions)
publishing_system.Publish(publishing_context)
if my_callback:
my_callback(plant_context)
slider_widgets = []
slider_num = 0
for i in range(plant.num_joints()):
joint = plant.get_joint(JointIndex(i))
low = joint.position_lower_limits()
upp = joint.position_upper_limits()
for j in range(joint.num_positions()):
index = joint.position_start() + j
description = joint.name()
if joint.num_positions() > 1:
description += f"[{j}]"
slider = FloatSlider(value=positions[index],
min=max(low[j], lower_limit[slider_num]),
max=min(upp[j], upper_limit[slider_num]),
step=resolution[slider_num],
continuous_update=continuous_update,
description=description,
style={'description_width': 'initial'},
layout=Layout(width=f"'{length}'"))
slider.observe(partial(_slider_callback, index=index),
names='value')
display(slider)
slider_widgets.append(slider)
slider_num += 1
return slider_widgets
def __init__(self, robot, lower_limit=-10., upper_limit=10.,
resolution=-1, length=200, update_period_sec=0.005,
window=None, title=None):
""""
Args:
robot: A MultibodyPlant.
lower_limit: A scalar or vector of length robot.num_positions().
The lower limit of the slider will be the maximum
value of this number and any limit specified in the
Joint.
upper_limit: A scalar or vector of length robot.num_positions().
The upper limit of the slider will be the minimum
value of this number and any limit specified in the
Joint.
resolution: A scalar or vector of length robot.num_positions()
that specifies the discretization of the slider. Use
-1 (the default) to disable any rounding.
length: The length of the sliders (passed as an argument to
tk.Scale).
update_period_sec: Specifies how often the window update() method
gets called.
window: Optionally pass in a tkinter.Tk() object to add these
widgets to. Default behavior is to create a new
window.
title: The string that appears as the title of the gui
window. Use None to generate a default title. This
parameter is only used if a window==None.
"""
VectorSystem.__init__(self, 0, robot.num_positions())
def _reshape(x, num):
x = np.array(x)
assert len(x.shape) <= 1
return np.array(x) * np.ones(num)
lower_limit = _reshape(lower_limit, robot.num_positions())
upper_limit = _reshape(upper_limit, robot.num_positions())
resolution = _reshape(resolution, robot.num_positions())
if title is None:
if robot.num_model_instances() == 1:
title = robot.GetModelInstanceName(0) + " Joints"
else:
title = "Multibody Joints"
if window is None:
self.window = tk.Tk()
self.window.title(title)
else:
self.window = window
# Schedule window updates in either case (new or existing window):
self.DeclarePeriodicEvent(update_period_sec, 0.0,
PublishEvent(self._update))
self._slider = []
self._slider_position_start = []
context = robot.CreateDefaultContext()
state = robot.GetPositionsAndVelocities(context)
self._default_position = state[:robot.num_positions()]
k = 0
for i in range(0, robot.num_joints()):
joint = robot.get_joint(JointIndex(i))
low = joint.position_lower_limits()
upp = joint.position_upper_limits()
for j in range(0, joint.num_positions()):
self._slider_position_start.append(joint.position_start() + j)
self._slider.append(tk.Scale(self.window,
from_=max(low[j],
lower_limit[k]),
to=min(upp[j], upper_limit[k]),
resolution=resolution[k],
label=joint.name(),
length=length,
orient=tk.HORIZONTAL))
self._slider[k].pack()
k += 1
def __init__(self,
robot,
lower_limit=-10.,
upper_limit=10.,
resolution=-1,
length=200,
update_period_sec=0.005,
window=None,
title=None):
""""
Args:
robot: A MultibodyPlant.
lower_limit: A scalar or vector of length robot.num_positions().
The lower limit of the slider will be the maximum
value of this number and any limit specified in the
Joint.
upper_limit: A scalar or vector of length robot.num_positions().
The upper limit of the slider will be the minimum
value of this number and any limit specified in the
Joint.
resolution: A scalar or vector of length robot.num_positions()
that specifies the discretization of the slider. Use
-1 (the default) to disable any rounding.
update_period_sec: Specifies how often the window update() method
gets called.
window: Optionally pass in a tkinter.Tk() object to add these
widgets to. Default behavior is to create a new
window.
title: The string that appears as the title of the gui
window. Use None to generate a default title. This
parameter is only used if a window==None.
"""
VectorSystem.__init__(self, 0, robot.num_positions())
def _reshape(x, num):
x = np.array(x)
assert len(x.shape) <= 1
return np.array(x) * np.ones(num)
def _frame_config(event):
"""
Execute once to configure the canvas size,
canvas contains scrollbar and slider_frame.
"""
self.canvas.configure(scrollregion=self.canvas.bbox("all"),
width=200,
height=min(robot.num_joints() * 60, 400))
lower_limit = _reshape(lower_limit, robot.num_positions())
upper_limit = _reshape(upper_limit, robot.num_positions())
resolution = _reshape(resolution, robot.num_positions())
if title is None:
if robot.num_model_instances() == 1:
title = robot.GetModelInstanceName(0) + " Joints"
else:
title = "Multibody Joints"
if window is None:
self.window = tk.Tk()
self.window.title(title)
else:
self.window = window
# Schedule window updates in either case (new or existing window):
self.DeclarePeriodicPublish(update_period_sec, 0.0)
self.window.geometry("220x410")
# Allow only y dimension resizable.
self.window.resizable(0, 1)
# Once window is created, create window_frame
# and canvas that host slider_frame and scrollbar.
self.window_frame = tk.Frame(self.window, relief=tk.GROOVE, bd=1)
self.window_frame.place(x=0, y=0)
self.canvas = tk.Canvas(self.window_frame)
# Init slider_frame that actually contain the sliders
# and scrollbar.
self.slider_frame = tk.Frame(self.canvas)
self.scrollbar = tk.Scrollbar(self.window_frame,
orient="vertical",
command=self.canvas.yview)
self.canvas.configure(yscrollcommand=self.scrollbar.set)
# Put scrollbar and slider_frame into canvas.
self.scrollbar.pack(side="right", fill="y")
self.canvas.pack(side="left")
self.canvas.create_window((0, 0),
window=self.slider_frame,
anchor='nw')
# Call _frame_config to configure canvas size.
self.slider_frame.bind("<Configure>", _frame_config)
self._slider = []
self._slider_position_start = []
context = robot.CreateDefaultContext()
state = robot.GetPositionsAndVelocities(context)
self._default_position = state[:robot.num_positions()]
k = 0
for i in range(0, robot.num_joints()):
joint = robot.get_joint(JointIndex(i))
low = joint.position_lower_limits()
upp = joint.position_upper_limits()
for j in range(0, joint.num_positions()):
self._slider_position_start.append(joint.position_start() + j)
self._slider.append(
tk.Scale(self.slider_frame,
from_=max(low[j], lower_limit[k]),
to=min(upp[j], upper_limit[k]),
resolution=resolution[k],
label=joint.name(),
length=length,
orient=tk.HORIZONTAL))
self._slider[k].pack()
k += 1
model = parser.AddModelFromFile(sdf_file_path, model_name)
# Weld to world so it doesn't fall through floor :D
base_frame = plant.GetFrameByName("base", model)
X_WB = RigidTransform([0, 0, 0])
plant.WeldFrames(plant.world_frame(), base_frame, X_WB)
plant.Finalize()
# Must happen after Finalize
# RuntimeError: Pre-finalize calls to 'num_actuated_dofs()' are not allowed; you must call Finalize() first.
no_control(plant, builder, model)
joints = []
for i in range(plant.num_joints()):
joints.append(plant.get_joint(JointIndex(i)))
rclpy.init()
node = rclpy.create_node('drake_demo')
# Publish SDF content on robot_description topic
latching_qos = QoSProfile(depth=1,
durability=DurabilityPolicy.TRANSIENT_LOCAL)
description_publisher = node.create_publisher(StringMsg,
'robot_description',
qos_profile=latching_qos)
msg = StringMsg()
with open(sdf_file_path, 'r') as sdf_file:
msg.data = sdf_file.read()
description_publisher.publish(msg)
def MakeJointSlidersThatPublishOnCallback(plant,
publishing_system,
root_context,
my_callback=None,
lower_limit=-10.,
upper_limit=10.,
resolution=0.01,
length=200,
continuous_update=True,
floating_base=True):
"""
Creates an ipywidget slider for each joint in the plant. Unlike the
JointSliders System, we do not expect this to be used in a Simulator. It
simply updates the context and calls Publish directly from the slider
callback.
Args:
plant: A MultibodyPlant.
publishing_system: The System whos Publish method will be called. Can
be the entire Diagram, but can also be a subsystem.
root_context: A mutable root Context of the Diagram containing both the
``plant`` and the ``publishing_system``; we will extract
the subcontext's using `GetMyContextFromRoot`.
my_callback: An optional additional callback function that will be
called once immediately and again whenever the sliders
are moved, using ``my_callback(plant_context)``. This
can be useful, e.g. for outputting text that prints the
current end-effector Jacobian, or for showing a rendered
image from a camera.
lower_limit: A scalar or vector of length robot.num_velocities().
The lower limit of the slider will be the maximum
value of this number and any limit specified in the
Joint.
upper_limit: A scalar or vector of length robot.num_velocities().
The upper limit of the slider will be the minimum
value of this number and any limit specified in the
Joint.
resolution: A scalar or vector of length robot.num_velocities()
that specifies the step argument of the FloatSlider.
length: The length of the sliders, which will be passed as a
string to the CSS width field and can be any valid CSS
entry (e.g. 100, 100px).
continuous_update: The continuous_update field for the FloatSliders.
The default ``True`` means that this method will publish/
callback as the sliders are dragged. ``False`` means
that the publish/callback will only happen once the user
finishes dragging the slider.
floating_base: If True, then include XYZ/RPY sliders corresponding to
the pose of any floating joints.
Returns:
A list of the slider widget objects that are created.
Note: Some publishers (like MeshcatVisualizer) use an initialization event
to "load" the geometry. You should call that *before* calling this method
(e.g. with `meshcat.load()`).
"""
def _broadcast(x, num):
x = np.asarray(x)
assert len(x.shape) <= 1
return np.array(x) * np.ones(num)
# Use num_velocities instead of num_positions because we want 6 per
# floating base, not 7.
lower_limit = _broadcast(lower_limit, plant.num_velocities())
upper_limit = _broadcast(upper_limit, plant.num_velocities())
resolution = _broadcast(resolution, plant.num_velocities())
publishing_context = publishing_system.GetMyContextFromRoot(root_context)
plant_context = plant.GetMyContextFromRoot(root_context)
positions = plant.GetPositions(plant_context)
# Publish once immediately.
publishing_system.Publish(publishing_context)
if my_callback:
my_callback(plant_context)
def _slider_callback(change, index, body=None):
if body: # Then it's a floating base
pose = plant.GetFreeBodyPose(plant_context, body)
vector_pose = np.concatenate(
(RollPitchYaw(pose.rotation()).vector(), pose.translation()))
vector_pose[index] = change.new
plant.SetFreeBodyPose(
plant_context, body,
RigidTransform(RollPitchYaw(vector_pose[:3]), vector_pose[3:]))
else:
positions[index] = change.new
plant.SetPositions(plant_context, positions)
publishing_system.Publish(publishing_context)
if my_callback:
my_callback(plant_context)
slider_widgets = []
for i in range(plant.num_joints()):
joint = plant.get_joint(JointIndex(i))
low = joint.position_lower_limits()
upp = joint.position_upper_limits()
for j in range(joint.num_positions()):
index = joint.position_start() + j
description = joint.name()
if joint.num_positions() > 1:
description += f"[{j}]"
slider = FloatSlider(value=positions[index],
min=max(low[j], lower_limit[index]),
max=min(upp[j], upper_limit[index]),
step=resolution[index],
continuous_update=continuous_update,
description=description,
style={'description_width': 'initial'},
layout=Layout(width=f"'{length}'"))
slider.observe(partial(_slider_callback, index=index),
names='value')
display(slider)
slider_widgets.append(slider)
if floating_base:
for bi in plant.GetFloatingBaseBodies():
body = plant.get_body(bi)
index = body.floating_velocities_start() - plant.num_positions()
pose = plant.GetFreeBodyPose(plant_context, body)
vector_pose = np.concatenate(
(RollPitchYaw(pose.rotation()).vector(), pose.translation()))
relative_index = 0
for dof in ["roll", "pitch", "yaw", "x", "y", "z"]:
slider = FloatSlider(min=lower_limit[index],
max=upper_limit[index],
value=vector_pose[relative_index],
step=resolution[index],
continuous_update=continuous_update,
description=f"{body.name()}_{dof}",
layout=Layout(width='90%'))
slider.observe(partial(_slider_callback,
index=relative_index,
body=body),
names='value')
display(slider)
slider_widgets.append(slider)
index += 1
relative_index += 1
return slider_widgets