add kpviewer

scripts/kpviewer.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+from typing import Any
+
+import kinpy as kp
+
+
+def main(args: Any) -> None:
+    chain = kp.build_chain_from_file(args.filename)
+    print(chain)
+    if args.show3d:
+        param_names = chain.get_joint_parameter_names()
+        th = {name: 0.0 for name in param_names}
+        ret = chain.forward_kinematics(th)
+        viz = kp.Visualizer()
+        viz.add_robot(ret, chain.visuals_map())
+        viz.spin()
+
+
+if __name__ == "__main__":
+    import argparse
+    parser = argparse.ArgumentParser(description="Robot model viewer.")
+    parser.add_argument("filename", type=str, help="Robot model filename.")
+    parser.add_argument("--show3d", action="store_true", help="Show 3D model on GUI window.")
+    args = parser.parse_args()
+    main(args)