compas_robots.viewer.scene ¤

This package provides functionality for visualizing robot models in the COMPAS viewer.

Classes¤

RobotModelObject ¤

RobotModelObject(
    configuration: Configuration | None = None,
    show_visual: bool | None = None,
    show_collision: bool | None = None,
    hide_coplanaredges: bool | None = None,
    use_vertexcolors: bool | None = None,
    **kwargs
)

Viewer scene object for displaying COMPAS Robot geometry.

The robot model itself is set via SceneObject.item (i.e. by passing it to Scene.add) rather than through this constructor.

Parameters:

configuration (Configuration | None, default: None ) –

The initial configuration of the robot. Defaults to the zero configuration.
show_visual (bool | None, default: None ) –

Toggle the visibility of the visual geometry. Defaults to True.
show_collision (bool | None, default: None ) –

Toggle the visibility of the collision geometry. Defaults to False.
hide_coplanaredges (bool | None, default: None ) –

True to hide the coplanar edges. It will override the value in the config file.
use_vertexcolors (bool | None, default: None ) –

True to use vertex color. It will override the value in the config file.
**kwargs –

Additional keyword arguments. For more info, see compas_viewer.scene.ViewerSceneObject.

Functions¤

create_geometry ¤

create_geometry(
    item: Mesh, name: str | None = None, color: Color | None = None
) -> MeshObject

Create a mesh object from a given geometry.

init ¤

init()

Initialize the robot object with creating the visual and collision objects.

transform ¤

transform(geometry, transformation: Transformation)

Transform the geometry by a given transformation.

update_joints ¤

update_joints(joint_state: Configuration)

Update the robot joints.