06_build_your_own_robot.py

# Rhino
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 Joint
from compas.robots import RobotModel
from compas_fab.rhino import RobotArtist
from compas_fab.robots import Configuration

# 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([length / 2., 0, 0]))

# create robot
robot = RobotModel("robot", links=[], joints=[])

# add first link to robot
link0 = robot.add_link("world")

# add second link to robot
mesh = Mesh.from_shape(cylinder)
link1 = robot.add_link("link1", visual_mesh=mesh, visual_color=(0.2, 0.5, 0.6))

# add the joint between the links
axis = (0, 0, 1)
origin = Frame.worldXY()
robot.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin, axis)

# add another link
mesh = Mesh.from_shape(cylinder) # create a copy!
link2 = robot.add_link("link2", visual_mesh=mesh, visual_color=(0.5, 0.6, 0.2))

# add another joint to 'glue' the link to the chain
origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
robot.add_joint("joint2", Joint.CONTINUOUS, link1, link2, origin, axis)

artist = RobotArtist(robot)

# Exercise: Update the robot's configuration
artist.update...

artist.draw_visual()
artist.redraw()