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jhavljhavl
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move dotfile and showgraph into baserobot
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‎roboticstoolbox/robot/BaseRobot.py

Lines changed: 246 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@
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from copy import deepcopy
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from functools import lru_cache
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from typing import (
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IO,
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TYPE_CHECKING,
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Any,
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Callable,
@@ -49,6 +50,7 @@
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from roboticstoolbox.backends.PyPlot import PyPlot, PyPlot2
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from roboticstoolbox.backends.PyPlot.EllipsePlot import EllipsePlot
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if TYPE_CHECKING:
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from matplotlib.cm import Color # pragma nocover
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else:
@@ -2838,3 +2840,247 @@ def teach(
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return env
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# --------------------------------------------------------------------- #
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# --------------------------------------------------------------------- #
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# --------- Utility Methods ------------------------------------------- #
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# --------------------------------------------------------------------- #
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def showgraph(self, display_graph: bool = True, **kwargs) -> Union[None, str]:
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"""
2850+
Display a link transform graph in browser
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2852+
``robot.showgraph()`` displays a graph of the robot's link frames
2853+
and the ETS between them. It uses GraphViz dot.
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The nodes are:
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- Base is shown as a grey square. This is the world frame origin,
2857+
but can be changed using the ``base`` attribute of the robot.
2858+
- Link frames are indicated by circles
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- ETS transforms are indicated by rounded boxes
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The edges are:
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- an arrow if `jtype` is False or the joint is fixed
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- an arrow with a round head if `jtype` is True and the joint is
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revolute
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- an arrow with a box head if `jtype` is True and the joint is
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prismatic
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Edge labels or nodes in blue have a fixed transformation to the
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preceding link.
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Parameters
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----------
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display_graph
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Open the graph in a browser if True. Otherwise will return the
2875+
file path
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etsbox
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Put the link ETS in a box, otherwise an edge label
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jtype
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Arrowhead to node indicates revolute or prismatic type
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static
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Show static joints in blue and bold
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Examples
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--------
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>>> import roboticstoolbox as rtb
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>>> panda = rtb.models.URDF.Panda()
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>>> panda.showgraph()
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.. image:: ../figs/panda-graph.svg
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:width: 600
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See Also
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--------
2894+
:func:`dotfile`
2895+
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"""
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# Lazy import
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import tempfile
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import subprocess
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import webbrowser
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# create the temporary dotfile
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dotfile = tempfile.TemporaryFile(mode="w")
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self.dotfile(dotfile, **kwargs)
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# rewind the dot file, create PDF file in the filesystem, run dot
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dotfile.seek(0)
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pdffile = tempfile.NamedTemporaryFile(suffix=".pdf", delete=False)
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subprocess.run("dot -Tpdf", shell=True, stdin=dotfile, stdout=pdffile)
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# open the PDF file in browser (hopefully portable), then cleanup
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if display_graph: # pragma nocover
2914+
webbrowser.open(f"file://{pdffile.name}")
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else:
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return pdffile.name
2917+
2918+
def dotfile(
2919+
self,
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filename: Union[str, IO[str]],
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etsbox: bool = False,
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ets: L["full", "brief"] = "full",
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jtype: bool = False,
2924+
static: bool = True,
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):
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"""
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Write a link transform graph as a GraphViz dot file
2928+
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The file can be processed using dot:
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% dot -Tpng -o out.png dotfile.dot
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The nodes are:
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- Base is shown as a grey square. This is the world frame origin,
2934+
but can be changed using the ``base`` attribute of the robot.
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- Link frames are indicated by circles
2936+
- ETS transforms are indicated by rounded boxes
2937+
2938+
The edges are:
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- an arrow if `jtype` is False or the joint is fixed
2940+
- an arrow with a round head if `jtype` is True and the joint is
2941+
revolute
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- an arrow with a box head if `jtype` is True and the joint is
2943+
prismatic
2944+
2945+
Edge labels or nodes in blue have a fixed transformation to the
2946+
preceding link.
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Note
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----
2950+
If ``filename`` is a file object then the file will *not*
2951+
be closed after the GraphViz model is written.
2952+
2953+
Parameters
2954+
----------
2955+
file
2956+
Name of file to write to
2957+
etsbox
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Put the link ETS in a box, otherwise an edge label
2959+
ets
2960+
Display the full ets with "full" or a brief version with "brief"
2961+
jtype
2962+
Arrowhead to node indicates revolute or prismatic type
2963+
static
2964+
Show static joints in blue and bold
2965+
2966+
See Also
2967+
--------
2968+
:func:`showgraph`
2969+
2970+
"""
2971+
2972+
if isinstance(filename, str):
2973+
file = open(filename, "w")
2974+
else:
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file = filename
2976+
2977+
header = r"""digraph G {
2978+
graph [rankdir=LR];
2979+
"""
2980+
2981+
def draw_edge(link, etsbox, jtype, static):
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# draw the edge
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if jtype:
2984+
if link.isprismatic:
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edge_options = 'arrowhead="box", arrowtail="inv", dir="both"'
2986+
elif link.isrevolute:
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edge_options = 'arrowhead="dot", arrowtail="inv", dir="both"'
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else:
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edge_options = 'arrowhead="normal"'
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else:
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edge_options = 'arrowhead="normal"'
2992+
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if link.parent is None:
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parent = "BASE"
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else:
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parent = link.parent.name
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if etsbox:
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# put the ets fragment in a box
3000+
if not link.isjoint and static:
3001+
node_options = ', fontcolor="blue"'
3002+
else:
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node_options = ""
3004+
3005+
try:
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file.write(
3007+
' {}_ets [shape=box, style=rounded, label="{}"{}];\n'.format(
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link.name,
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link.ets.__str__(q=f"q{link.jindex}"),
3010+
node_options,
3011+
)
3012+
)
3013+
except UnicodeEncodeError: # pragma nocover
3014+
file.write(
3015+
' {}_ets [shape=box, style=rounded, label="{}"{}];\n'.format(
3016+
link.name,
3017+
link.ets.__str__(q=f"q{link.jindex}")
3018+
.encode("ascii", "ignore")
3019+
.decode("ascii"),
3020+
node_options,
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)
3022+
)
3023+
3024+
file.write(" {} -> {}_ets;\n".format(parent, link.name))
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file.write(
3026+
" {}_ets -> {} [{}];\n".format(link.name, link.name, edge_options)
3027+
)
3028+
else:
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# put the ets fragment as an edge label
3030+
if not link.isjoint and static:
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edge_options += 'fontcolor="blue"'
3032+
if ets == "full":
3033+
estr = link.ets.__str__(q=f"q{link.jindex}")
3034+
elif ets == "brief":
3035+
if link.jindex is None:
3036+
estr = ""
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else:
3038+
estr = f"...q{link.jindex}"
3039+
else:
3040+
return
3041+
try:
3042+
file.write(
3043+
' {} -> {} [label="{}", {}];\n'.format(
3044+
parent,
3045+
link.name,
3046+
estr,
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edge_options,
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)
3049+
)
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except UnicodeEncodeError: # pragma nocover
3051+
file.write(
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' {} -> {} [label="{}", {}];\n'.format(
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parent,
3054+
link.name,
3055+
estr.encode("ascii", "ignore").decode("ascii"),
3056+
edge_options,
3057+
)
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)
3059+
3060+
file.write(header)
3061+
3062+
# add the base link
3063+
file.write(" BASE [shape=square, style=filled, fillcolor=gray]\n")
3064+
3065+
# add the links
3066+
for link in self:
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# draw the link frame node (circle) or ee node (doublecircle)
3068+
if link in self.ee_links:
3069+
# end-effector
3070+
node_options = 'shape="doublecircle", color="blue", fontcolor="blue"'
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else:
3072+
node_options = 'shape="circle"'
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3074+
file.write(" {} [{}];\n".format(link.name, node_options))
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3076+
draw_edge(link, etsbox, jtype, static)
3077+
3078+
for gripper in self.grippers:
3079+
for link in gripper.links:
3080+
file.write(" {} [shape=cds];\n".format(link.name))
3081+
draw_edge(link, etsbox, jtype, static)
3082+
3083+
file.write("}\n")
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3085+
if isinstance(filename, str):
3086+
file.close() # noqa

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