Update app.py

app.py

@@ -10,7 +10,6 @@ L = np.array([1, 1, 1, 1, 1, 1])  # Lengths of each arm segment
 # Forward kinematics: Compute the end-effector position given joint angles
 def forward_kinematics(theta):
     theta = np.array(theta)
-    # Compute x, y, z coordinates for each joint
     x = L[0] * np.cos(theta[0]) + L[1] * np.cos(theta[0] + theta[1]) + L[2] * np.cos(theta[0] + theta[1] + theta[2]) + \
          L[3] * np.cos(theta[0] + theta[1] + theta[2] + theta[3]) + L[4] * np.cos(theta[0] + theta[1] + theta[2] + theta[3] + theta[4]) + \
          L[5] * np.cos(theta[0] + theta[1] + theta[2] + theta[3] + theta[4] + theta[5])
@@ -45,4 +44,58 @@ def robot_pathfinder(target_x, target_y, target_z):
         x = joint_positions[-1][0] + L[i] * np.cos(np.sum(optimal_angles[:i+1]))
         y = joint_positions[-1][1] + L[i] * np.sin(np.sum(optimal_angles[:i+1]))
         z = joint_positions[-1][2] + L[i] * np.sin(np.sum(optimal_angles[:i+1]))
-        joint_positions
+        joint_positions.append([x, y, z])
+    
+    # Create 3D plot using Plotly
+    fig = go.Figure()
+    
+    # Add robot arm segments
+    for i in range(len(joint_positions) - 1):
+        fig.add_trace(go.Scatter3d(
+            x=[joint_positions[i][0], joint_positions[i+1][0]],
+            y=[joint_positions[i][1], joint_positions[i+1][1]],
+            z=[joint_positions[i][2], joint_positions[i+1][2]],
+            mode='lines+markers',
+            line=dict(color='blue', width=5),
+            marker=dict(size=5)
+        ))
+    
+    # Add target point
+    fig.add_trace(go.Scatter3d(
+        x=[target[0]],
+        y=[target[1]],
+        z=[target[2]],
+        mode='markers',
+        marker=dict(color='red', size=10)
+    ))
+    
+    # Set layout
+    fig.update_layout(
+        scene=dict(
+            xaxis=dict(range=[-5, 5]),
+            yaxis=dict(range=[-5, 5]),
+            zaxis=dict(range=[-5, 5]),
+            aspectmode='cube'
+        ),
+        title="6-DOF Robot Arm Pathfinding in 3D"
+    )
+    
+    return fig
+
+# Gradio app
+iface = gr.Interface(
+    fn=robot_pathfinder,
+    inputs=[
+        gr.Number(label="Target X-coordinate"),
+        gr.Number(label="Target Y-coordinate"),
+        gr.Number(label="Target Z-coordinate")
+    ],
+    outputs=gr.Plot(),  # Use Plotly for 3D visualization
+    live=True,
+    title="6-DOF Robot Shortest Path Finder in 3D",
+    description="Enter target coordinates (x, y, z) to find the shortest path for a 6-DOF robot arm in 3D space."
+)
+
+# Launch the app
+if __name__ == "__main__":
+    iface.launch(server_name="0.0.0.0", server_port=7860)