A03 karen antorveza

lecture_03/202_visualize_model_with_meshes_artist.py

@@ -2,7 +2,7 @@
 from compas.robots import LocalPackageMeshLoader
 from compas.robots import RobotModel
 
-model = RobotModel.from_urdf_file("models/05_origins_meshes.urdf")
+model = RobotModel.from_urdf_file("models/04_visual_origins.urdf")
 
 loader = LocalPackageMeshLoader("models", "basic")
 model.load_geometry(loader)

lecture_03/210_build_your_own_robot.py

@@ -9,7 +9,7 @@
 from compas.robots import Joint
 from compas.robots import RobotModel
 
-# create cylinder in yz plane
+# create cylinder in yz plane (we will use this for everything)
 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]))
@@ -22,26 +22,34 @@
 mesh2 = Mesh.from_shape(cylinder)
 
 # add links
-link0 = model.add_link("world")
+link0 = model.add_link("world") #this one doesn't have geometry 
 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
+# add joints between the links where it moves (link0 child, link1 parent)
 axis = (0, 0, 1)
 
-origin = Frame.worldXY()
-model.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin, axis)
+origin1 = Frame.worldXY()
+model.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin1, axis)
 
-origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
-model.add_joint("joint2", Joint.CONTINUOUS, link1, link2, origin, axis)
+origin2 = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint2", Joint.CONTINUOUS, link1, link2, origin2, axis)
 
 # Create a configuration object matching the number of joints in your model
-# configuration = ....
+configuration = model.zero_configuration() #close to all zeros 
+configuration.joint_values =[2, 1.57]
 
 # Update the model using the artist
 artist = Artist(model)
-# artist.update ...
+artist.update(configuration)
 
 # Render everything
 artist.draw_visual()
 artist.redraw()
+
+
+artist1 = Artist(frame)
+artist2 = Artist(model)
+artist2.update(config)
+
+a = [artist.draw()]

lecture_04/306_robot_from_ros_artist.py

@@ -1,4 +1,4 @@
-z  # Before running this example, make sure to run
+# Before running this example, make sure to run
 # "docker compose up" on the docker/gofa-noetic folder
 from compas.artists import Artist
 from compas_fab.backends import RosClient