def data(self, data):
self.name = data['name']
self.joints = [Joint.from_data(d) for d in data['joints']]
self.links = [Link.from_data(d) for d in data['links']]
self.materials = [Material.from_data(d) for d in data['materials']]
self.attr = _attr_from_data(data['attr'])
self._scale_factor = data['_scale_factor']
self._rebuild_tree()
def _set_data(self, data):
self.name = data.get('name', '')
self.joints = [Joint.from_data(d) for d in data.get('joints', [])]
self.links = [Link.from_data(d) for d in data.get('links', [])]
self.materials = [Material.from_data(d) for d in data.get('materials', [])]
self.attr = _attr_from_data(data.get('attr', {}))
self._scale_factor = data.get('_scale_factor', 1.)
self._rebuild_tree()
def add_link(self, name, visual_mesh=None, visual_color=None, collision_mesh=None, **kwargs):
"""Adds a link to the robot model.
Provides an easy way to programmatically add a link to the robot model.
Parameters
----------
name : str
The name of the link
visual_mesh : :class:`compas.datastructures.Mesh`, optional
The link's visual mesh.
visual_color : list of 3 float, optional
The rgb color of the mesh. Defaults to (0.8, 0.8, 0.8)
collision_mesh : :class:`compas.datastructures.Mesh`, optional
The link's collision mesh.
Returns
-------
:class:`Link`
The created `Link`
Raises
------
ValueError
If the link name is already used in the chain.
Examples
--------
>>> sphere = Sphere((0, 0, 0), 1)
>>> mesh = Mesh.from_shape(sphere)
>>> robot = RobotModel('robot')
>>> link = robot.add_link('link0', visual_mesh=mesh)
"""
all_link_names = [l.name for l in self.links]
if name in all_link_names:
raise ValueError("Link name '%s' already used in chain." % name)
visual = []
collision = []
if visual_mesh:
if not visual_color:
visual_color = (0.8, 0.8, 0.8)
v = Visual(Geometry(MeshDescriptor("")))
v.material = Material(color=Color("%f %f %f 1" % visual_color))
v.geometry.shape.geometry = visual_mesh
visual.append(v)
if collision_mesh: # use visual_mesh as collision_mesh if none passed?
c = Collision(Geometry(MeshDescriptor("")))
c.geometry.shape.geometry = collision_mesh
collision.append(c)
link = Link(name, visual=visual, collision=collision, **kwargs)
self.links.append(link)
return link
def add_link(self, name, visual_meshes=None, visual_color=None, collision_meshes=None, **kwargs):
"""Adds a link to the robot model.
Provides an easy way to programmatically add a link to the robot model.
Parameters
----------
name : str
The name of the link
visual_meshes : list of :class:`compas.datastructures.Mesh` or :class:`compas.geometry.Shape`, optional
The link's visual mesh.
visual_color : list of 3 float, optional
The rgb color of the mesh. Defaults to (0.8, 0.8, 0.8)
collision_meshes : list of :class:`compas.datastructures.Mesh` or :class:`compas.geometry.Shape`, optional
The link's collision mesh.
Returns
-------
:class:`Link`
The created `Link`
Raises
------
ValueError
If the link name is already used in the chain.
Examples
--------
>>> sphere = Sphere((0, 0, 0), 1)
>>> mesh = Mesh.from_shape(sphere)
>>> robot = RobotModel('robot')
>>> link = robot.add_link('link0', visual_mesh=mesh)
"""
self._check_link_name(name)
visual_meshes, kwargs = self._consolidate_meshes(visual_meshes, 'visual_mesh', **kwargs)
collision_meshes, kwargs = self._consolidate_meshes(collision_meshes, 'collision_mesh', **kwargs)
if not visual_color:
visual_color = (0.8, 0.8, 0.8)
visuals = []
collisions = []
for visual in visual_meshes:
if isinstance(visual, Mesh):
v = Visual(Geometry(MeshDescriptor("")))
v.geometry.shape.geometry = visual
else:
v = Visual.from_primitive(visual)
v.material = Material(color=Color("%f %f %f 1" % visual_color))
visuals.append(v)
for collision in collision_meshes: # use visual_mesh as collision_mesh if none passed?
if isinstance(collision, Mesh):
c = Collision(Geometry(MeshDescriptor("")))
c.geometry.shape.geometry = collision
else:
c = Collision.from_primitive(collision)
collisions.append(c)
link = Link(name, visual=visuals, collision=collisions, **kwargs)
self.links.append(link)
# Must build the tree structure, if adding the first link to an empty robot
if len(self.links) == 1:
self._rebuild_tree()
self._create(self.root, Transformation())
return link