Add Puma560 usage to test teachpanel

micah-huth · micah-huth · commit 766e746a1b5e · 2020-08-24T09:13:42.000+10:00
diff --git a/tests/_test_teachpanel.py b/tests/_test_teachpanel.py
@@ -1,22 +1,31 @@
 import graphics as gph
 from roboticstoolbox.robot.serial_link import SerialLink, Link
+from roboticstoolbox.models.Puma560 import Puma560
 
 if __name__ == "__main__":
-    canvas = gph.GraphicsCanvas3D()
+    # canvas = gph.GraphicsCanvas3D()
 
-    L = []
-    L2 = []
+    # Puma560
+    puma560 = Puma560()
 
-    L.append(Link(a=1, jointtype='R'))
-    L.append(Link(a=1, jointtype='R'))
-    L.append(Link(a=1, jointtype='R'))
+    puma560.plot(puma560.qz)
 
-    L2.append(Link(a=1, jointtype='R'))
-    L2.append(Link(a=1, jointtype='R'))
-    L2.append(Link(a=1, jointtype='R'))
+    # g_puma560 = gph.GraphicalRobot(canvas, '', seriallink=puma560)
 
-    tl = SerialLink(L, name='R1')
-    tl2 = SerialLink(L, name='R2')
-
-    robot = gph.GraphicalRobot(canvas, '', seriallink=tl)
-    robot2 = gph.GraphicalRobot(canvas, '', seriallink=tl2)
+    # Two three-joint arms
+    # L = []
+    # L2 = []
+    #
+    # L.append(Link(a=1, jointtype='R'))
+    # L.append(Link(a=1, jointtype='R'))
+    # L.append(Link(a=1, jointtype='R'))
+    #
+    # L2.append(Link(a=1, jointtype='R'))
+    # L2.append(Link(a=1, jointtype='R'))
+    # L2.append(Link(a=1, jointtype='R'))
+    #
+    # tl = SerialLink(L, name='R1')
+    # tl2 = SerialLink(L, name='R2')
+    #
+    # robot = gph.GraphicalRobot(canvas, '', seriallink=tl)
+    # robot2 = gph.GraphicalRobot(canvas, '', seriallink=tl2)
