assignment_2

lecture_03/assignment_02/gabriele_mattei/assignment_02.py

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+from compas.artists import Artist
+from compas.datastructures import Mesh
+from compas.geometry import Circle
+from compas.geometry import Cylinder
+from compas.geometry import Frame
+from compas.geometry import Plane
+from compas.geometry import Translation
+from compas.robots import Configuration
+from compas.robots import Joint
+from compas.robots import RobotModel
+from compas.geometry import Point
+
+# create cylinder in yz plane
+radius, length = 0.3, 5
+cylinder = Cylinder(Circle(Plane([0, 0, 0], [1, 0, 0]), radius), length)
+cylinder.transform(Translation.from_vector([length / 2.0, 0, 0]))
+
+
+# create robot model
+model = RobotModel("robot", links=[], joints=[])
+
+# link meshes (calling Mesh.from_shape effectively creates a copy of the shape)
+mesh1 = Mesh.from_shape(cylinder)
+mesh2 = Mesh.from_shape(cylinder)
+mesh3 = Mesh.from_shape(cylinder)
+mesh4 = Mesh.from_shape(cylinder)
+mesh5 = Mesh.from_shape(cylinder)
+mesh6 = Mesh.from_shape(cylinder)
+mesh7 = Mesh.from_shape(cylinder)
+mesh8 = Mesh.from_shape(cylinder)
+
+
+# add links
+link0 = model.add_link("world") #doesn't have geometry, it's just some kind of placeholder to connect to the world frame coordiante system
+link1 = model.add_link("link1", visual_mesh=mesh1, visual_color=(1, 0.0, 0.5))
+link2 = model.add_link("link2", visual_mesh=mesh2, visual_color=(0.0, 1, 0.5))
+link3 = model.add_link("link3", visual_mesh=mesh3, visual_color=(1, 0.0, 0.5))
+link4 = model.add_link("link4", visual_mesh=mesh4, visual_color=(0.0, 1, 0.5))
+link5 = model.add_link("link5", visual_mesh=mesh5, visual_color=(1, 0.0, 0.5))
+link6 = model.add_link("link6", visual_mesh=mesh6, visual_color=(0.0, 1, 0.5))
+link7 = model.add_link("link7", visual_mesh=mesh7, visual_color=(1, 0.0, 0.5))
+link8 = model.add_link("link8", visual_mesh=mesh8, visual_color=(0.0, 1, 0.5))
+
+
+
+# add joints between the links
+axis = (0, 0, 1)
+
+origin = Frame.worldXY()
+model.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint2", Joint.CONTINUOUS, link1, link2, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint3", Joint.CONTINUOUS, link2, link3, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint4", Joint.CONTINUOUS, link3, link4, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint5", Joint.CONTINUOUS, link4, link5, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint6", Joint.CONTINUOUS, link5, link6, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint7", Joint.CONTINUOUS, link6, link7, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint8", Joint.CONTINUOUS, link7, link8, origin, axis)
+
+
+# Create a configuration object matching the number of joints in your model
+configuration = model.zero_configuration()
+configuration.joint_values = joint_vals
+print(configuration)
+# Update the model using the artist
+artist = Artist(model)
+artist.update(configuration)
+
+
+# Render everything
+a = artist.draw_visual()
+artist.redraw()