Vismach - The easist example

#imports from vismach import * import hal #create the HAL component and pins comp = hal.component("vismach-example") comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) comp.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) comp.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) #create the floor, tool and work floor = Box(-50, -50, -3, 50, 50, 0) work = Capture() tooltip = Capture() #Build and assemble the model part1 = Collection([Box(-6,-3,94,6,3,100)]) #part1 = Color([1,1,1,1],[part1]) #part1 = HalRotate([part1],comp,"joint0",360,0,0,1) #part1 = Translate([part1],-1,49,0) #create a top-level model model = Collection([part1]) #Start the visualization main(model, tooltip, work, 100)

halcmd: loadusr vismach-example halcmd: Exception in Tkinter callback Traceback (most recent call last):   File "/usr/lib/python3.7/tkinter/__init__.py", line 1705, in __call__     return self.func(*args)   File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/rs274/OpenGLTk.py", line 374, in tkExpose     self.tkRedraw()   File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/rs274/OpenGLTk.py", line 351, in tkRedraw     self.redraw()   File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/vismach.py", line 820, in redraw     view2work = invert(self.work2view.t)   File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/vismach.py", line 668, in invert     inv[0][1],inv[1][0] = inv[1][0],inv[0][1] IndexError: list index out of range

#!/usr/bin/env python3 #imports from vismach import * import hal #create the HAL component and pins comp = hal.component("vismach-example") comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) comp.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) comp.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) #create the floor, tool and work floor = Box(-50, -50, -3, 50, 50, 0) work = Capture() tooltip = Capture() #Build and assemble the model part1 = Box(-6,-3,94,6,3,100) #create a top-level model model = part1 #Start the visualization main(model, tooltip, work, 100)

#!/usr/bin/env python3 #imports from vismach import * import hal #create the HAL component and pins comp = hal.component("vismach-example") comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) comp.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) comp.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) #create the floor, tool and work floor = Box(-50, -50, -3, 50, 50, 0) work = Capture() tooltip = Capture() #Build and assemble the model part1 = Box(-6,-3,94,6,3,100) #create a top-level model model = Collection([part1, floor, tooltip, work]) #Start the visualization main(model, tooltip, work, 100)

#!/usr/bin/env python3 #imports from vismach import * import hal #create the HAL component and pins comp = hal.component("vismach-example") comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) comp.ready() #create the floor, tool and work tooltip = Capture() tool = CylinderZ(0, 1, 20, 1) tool = Color([1,0,0,0],[tool]) tool = Collection([tooltip, tool]) tool = Translate([tool],0,0,150) work = Capture() part = Box(-50, -50, 0, 50, 50, 100) part = Collection([work, part]) #create a top-level model model = Collection([tool, part]) #Start the visualization #main(model, tooltip, work) main(model, tooltip, work, 400)

#!/usr/bin/env python3 #imports from vismach import * import hal X0 = -300 #create the HAL component and pins c = hal.component("tripteron-gui") c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) #create the floor, tool and work floor = Box(-500, -100, -3, 500, 100, 0) work = Capture() tooltip = Capture() #define colour red = (1,.5,.5,0) green = (.5,1,.5,0) blue = (.5,.5,1,0) #Build and assemble the model carriage0 = Collection([Box(-30,-20,-3,30,20,3)]) carriage0 = Color(red,[carriage0]) carriage0 = Translate([carriage0],-100+X0,0,-5) carriage0 = HalTranslate([carriage0], c, "joint0", 1, 0, 0) carriage1 = Collection([Box(-30,-20,-3,30,20,3)]) carriage1 = Color(green,[carriage1]) carriage1 = Translate([carriage1],100+X0,-50,-5) carriage1 = HalTranslate([carriage1], c, "joint1", 1, 0, 0) carriage2 = Collection([Box(-30,-20,-3,30,20,3)]) carriage2 = Color(blue,[carriage2]) carriage2 = Translate([carriage2],100+X0,50,-5) carriage2 = HalTranslate([carriage2], c, "joint2", 1, 0, 0) head = Collection([     tooltip,     Box(-30,-30,0,30,30,-30)]) head = Translate([head],X0,0,-100) #create a top-level model model = Collection([floor, carriage0, carriage1, carriage2, head, tooltip, work]) #Start the visualization main(model, tooltip, work, 1200, lat=-120, lon=30)