viz¶
org.horizon36596.simloop.viz
Drawing a mechanism's pose into the log, so AdvantageScope can show you the arm instead of four line graphs you have to hold in your head.
What you use¶
| Type | What it is |
|---|---|
MechanismSketchDefinition |
The mechanism's fixed geometry, built once with a builder. |
MechanismSketch |
The live drawing: give it joint values each tick, it logs the pose. |
JointDefinition |
The base for one drawn segment. |
RevoluteJointDefinition |
A segment that pivots — an arm. Constant length, varying angle. |
LinearJointDefinition |
A segment that extends — a slide stage. Varying length, fixed direction. |
RobotVector3 |
A direction or point in the robot frame. |
Units and frames¶
- Lengths: inches.
- Angles: radians, right-hand rule about the joint's rotation axis, measured from the zero pose.
- Directions: unit vectors in the robot-local frame, unitless.
- Line weight: pixels, and colour is
"#RRGGBB"upper-case.
The zero pose is the mechanism as drawn in CAD: every joint at its own zero. A revolute joint's
angles are relative to that pose, and its min angle is always <= 0 while its max is always >= 0.
What this package will not do¶
- It will not render anything. It writes numbers into the log; AdvantageScope draws them. There is no image output here.
- It will not do inverse kinematics. You give it joint values; it does not solve for them.
- It is not a collision model. A sketch that draws two segments through each other draws them through each other.
- It does not know where the robot is. The sketch is a mechanism, drawn in the robot frame; putting the robot on the field is the drivetrain's business.