README.md

Assignment 02

Build your own robot model.

• Build your own robot with a certain number n of links and n - 1 configurable joints.
• Create a Configuration with certain values and the correct joint types.
• Create a Artist.
• Use the artist to update the robot with the created configuration, such that it configures into the letter of your choice (or any other identifiable figure).

How to start

Use the following code as a starting point for your assignment:

"""Assignment 02: Build your own robot model
"""
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

# 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)

# add links
link0 = model.add_link("world")
link1 = model.add_link("link1", visual_mesh=mesh1, visual_color=(0.2, 0.5, 0.6))
link2 = model.add_link("link2", visual_mesh=mesh2, visual_color=(0.5, 0.6, 0.2))

# 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)

# Create a configuration object matching the number of joints in your model
# configuration = ....

# Update the model using the artist
artist = Artist(model)
# artist.update ...

# Render everything
artist.draw_visual()
artist.redraw()

Helpful links

• Robot model tutorial

Expected result

NOTE: It should be some recognizable shape, but not necessarily a letter M as in this image!

How to submit your assignment

1. IMPORTANT: Make sure you switched branch back back to main!

2. Update/sync the repository of the course:

   

3. Create a branch called a02-your-name (replacing your-name with your actual name, all lowercase, use dashes instead of spaces)

   

4. Create a folder with your name and last name, eg. david_bowie (make sure it is inside the current assignment folder)

5. Create a Python file called assignment_02.py inside the folder created in the previous step, and paste the starting point code.

6. Solve the coding assignment and commit

   (How do I commit?)

   

7. Once you're ready to submit, push the changes clicking the update/sync button again:

   

8. And create a pull request (What's a pull request?)

   1. Open your browser and go to your fork
   2. Create the pull request clicking Compare & pull request and follow the instructions