Merge pull request #188 from compas-dev/feature/robot

Feature/robot

Author: Licini

CHANGELOG.md

@@ -22,6 +22,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Added `list[float]` to accepted types for `Camera.position` and `Camera.target`.
 * Added `unit` to `Viewer` and `Config`.
 * Added `bounding_box` and `_update_bounding_box` to `BufferObject`.
+* Added `robot.py` example.
 
 ### Changed
 

scripts/robot.py

@@ -0,0 +1,33 @@
+from compas_robots import RobotModel
+from compas_robots.resources import GithubPackageMeshLoader
+from compas_robots.viewer.scene.robotmodelobject import RobotModelObject
+from compas_viewer.components import Slider
+from compas_viewer import Viewer
+
+viewer = Viewer()
+viewer.renderer.rendermode="lighted"
+
+github = GithubPackageMeshLoader("ros-industrial/abb", "abb_irb6600_support", "kinetic-devel")
+model = RobotModel.from_urdf_file(github.load_urdf("irb6640.urdf"))
+model.load_geometry(github)
+
+configuration = model.zero_configuration()
+robot_object: RobotModelObject = viewer.scene.add(model, show_lines=False, configuration=configuration)  # type: ignore
+
+viewer.ui.sidedock.show = True
+
+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()