Feature/robot

[PingHsunTsai]

What type of change is this?

• fix robot scene
• fix compas robot related -> Fix/viewer compas_robots#18

[Licini]

The error you saw comes from L109 and L121 where the visual_object was inited before added to scene.

[Licini]

But what I can do here is to change to self.viewer.scene just like L289 so it will be able to access it no matter when, I will push it to main now

[PingHsunTsai]

Thats very cool. Then should we just use self.viewer.scene instead of self.scene in other place as well? cus it access the same instance anyway?

[PingHsunTsai]

@Licini and @tomvanmele this PR also ready!

[yck011522]

Yay. Thanks a lot for this PR.

[djy89]

do you know, in this class,robot_object: RobotModelObject = viewer.scene.add(model,..... How to assemble a robot tool，and show in viewer.(not show in ros or rhino.)
.....
robot_object: RobotModelObject = viewer.scene.add(model,.....
robot.attach_tool(tool,group,ee_link_name)
robot_object.attach_tool_model(tool.tool_model)
robot_object.update(config)
viewer.renderer.update()
。。。The above does not work。。。。

[djy89]

Thank you very much. I would like to add a tool for the robotic arm in this example and display it in the Viewer, instead of displaying the robotic arm on interfaces like ROS Rhino. We are using compas_view, But the tool I added in this way doesn't work. Can you design a robot that can attach a display example of the end tool as a reference. What issues do I need to pay attention to.
me:
from compas_robots.viewer.scene.robotmodelobject import RobotModelObject
from compas_viewer.components import Slider
from compas_viewer import Viewer

from compas.datastructures import Mesh
from compas.geometry import Frame
from compas_robots import RobotModel
from compas_robots.model.tool import ToolModel
from compas_robots.resources import LocalPackageMeshLoader
import compas_fab
viewer = Viewer()
viewer.renderer.rendermode="lighted"
urdf_filename ='./ur5.urdf'
model = RobotModel.from_urdf_file(urdf_filename)
model.load_geometry(LocalPackageMeshLoader(compas_fab.get("universal_robot"), "ur_description"), precision=5)
configuration = model.zero_configuration()
robot_object: RobotModelObject = viewer.scene.add(model, show_lines=False, configuration=configuration) # type: ignore
viewer.ui.sidedock.show = True
##############attach_tool_model##################
mesh = Mesh.from_stl("./vacuum_gripper.stl")
frame_t = Frame([0, 0, 0.07], [1, 0, 0], [0, 1, 0])
tool_model = ToolModel(mesh, frame_t, connected_to="wrist_3_link")
robot_object.attach_tool_model(tool_model)
viewer.renderer.update()
##############attach_tool_model##################

def make_rotate_function(index):
def rotate(slider: Slider, value: int):
config = robot_object.configuration
config.joint_values[index] = value / 360 * 2 * 3.14159
robot_object.update_joints(config)
return rotate

for i, joint in enumerate(robot_object.configuration.joint_names):
rotate_function = make_rotate_function(i)
viewer.ui.sidedock.add(Slider(title=joint, starting_val=0, min_val=-180, max_val=180, step=1, action=rotate_function))
robot_object.update_joints(robot_object.configuration)
viewer.show()

[tomvanmele]

hi,

could you post this on the forum, or on the issue tracker, instead of on a closed pull request?

thanks!

[djy89]

OK ， I have submitted the issue，can you help handle it？thankyou

…

---Original---  From: "Tom Van ***@***.***> Date: Fri, Nov 8, 2024 19:24 PM To: ***@***.***>; Cc: ***@***.******@***.***>; Subject: Re: [compas-dev/compas_viewer] Feature/robot (PR #188) hi, could you post this on the forum, or on the issue tracker, instead of on a closed pull request? thanks! — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: ***@***.***>