.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "_auto_examples/aabbtree/plot_robot.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download__auto_examples_aabbtree_plot_robot.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr__auto_examples_aabbtree_plot_robot.py:


=====
Robot
=====

Plot AABB tree of a robot.

.. GENERATED FROM PYTHON SOURCE LINES 8-42



.. image-sg:: /_auto_examples/aabbtree/images/sphx_glr_plot_robot_001.png
   :alt: plot robot
   :srcset: /_auto_examples/aabbtree/images/sphx_glr_plot_robot_001.png
   :class: sphx-glr-single-img





.. code-block:: default

    import distance3d.broad_phase

    print(__doc__)
    import os
    import pytransform3d.plot_utils as ppu
    from pytransform3d.urdf import UrdfTransformManager
    import matplotlib.pyplot as plt
    from distance3d import plotting


    BASE_DIR = "test/data/"
    data_dir = BASE_DIR
    search_path = ".."
    while (not os.path.exists(data_dir) and
           os.path.dirname(search_path) != "distance3d"):
        search_path = os.path.join(search_path, "..")
        data_dir = os.path.join(search_path, BASE_DIR)

    tm = UrdfTransformManager()
    filename = os.path.join(data_dir, "robot.urdf")
    with open(filename, "r") as f:
        robot_urdf = f.read()
        tm.load_urdf(robot_urdf, mesh_path=data_dir)
    joint_names = ["joint%d" % i for i in range(1, 7)]
    for joint_name in joint_names:
        tm.set_joint(joint_name, 0.7)

    bvh = distance3d.broad_phase.BoundingVolumeHierarchy(tm, "robot_arm")
    bvh.fill_tree_with_colliders(tm, make_artists=False)

    ax = ppu.make_3d_axis(0.6)
    plotting.plot_aabb_tree(ax, bvh.aabbtree_)
    tm.plot_collision_objects("robot_arm", ax, wireframe=False, alpha=0.5)
    plt.show()


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  0.254 seconds)


.. _sphx_glr_download__auto_examples_aabbtree_plot_robot.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example


    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: plot_robot.py <plot_robot.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: plot_robot.ipynb <plot_robot.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_