def mit_carpet_floor(MiroSystem):
# Add MIT floor as a box
MIT_floor_x = 4.5 + 4.8 + 4.5
MIT_floor_z = 4.5 + 4.8 + 4.5
MIT_floor_pos = np.array([1.6, -1, -1.9])
MiroAPI.add_boxShape(MiroSystem, MIT_floor_x, 2, MIT_floor_z, MIT_floor_pos, 'MITfloor.png',scale=[23,18])
def trialsurface(MiroSystem, target):
nx = 10
dz = 1.4
diag = 0.2
eps = 0.008
box_side = diag/np.sqrt(2)
h = diag/2
for i in range(nx):
pos = np.array([target[0] - (nx - 1 - 2*i)*diag/2, target[1]-h, target[2]])
MiroAPI.add_boxShape(MiroSystem, box_side, box_side, dz, pos, rotZ=45, texture='white concrete.jpg')
th = 1.2*h
pos = np.array([target[0], target[1]-h-th/2, target[2]])
MiroAPI.add_boxShape(MiroSystem, nx*diag+2*eps, th, dz+2*eps, pos, texture='wood_ikea_style.png')
r = 0.03
h = target[1]-th-h
d = 0.1
# [+, +]
pos = np.array([target[0] + nx*diag/2 - d, h/2, target[2] + dz/2 -d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
# [-, +]
pos = np.array([target[0] - nx*diag/2 + d, h/2, target[2] + dz/2 -d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
# [-, -]
pos = np.array([target[0] - nx*diag/2 + d, h/2, target[2] - dz/2 +d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
# [+, -]
pos = np.array([target[0] + nx*diag/2 - d, h/2, target[2] - dz/2 +d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
def build(MiroSystem, SPEEDMODE=False):
MiroAPI.add_boxShape(MiroSystem,
0.5,
1.85,
0.5, [1, 6.64 + 1.85 / 2, 6],
Fixed=False)
return
def Plan4_Rum3(MiroSystem):
MiroAPI.add_boxShape(MiroSystem,
4,
0.85,
3, [-4.5, 6.64, -10.3],
rotX=-16,
friction=2000)
def MC907(rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = 0.8
size_y = 0.1
size_z = 0.9
density_brick = density['Steel Forged Concrete'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='white_bricks.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [0, 1, 0],
[3 * size_x / 8, size_y / 2, 3 * size_z / 8])
COMPONENT.AddLinkPoint('B', [0, 1, 0],
[-3 * size_x / 8, size_y / 2, 3 * size_z / 8])
COMPONENT.AddLinkPoint('C', [0, 1, 0],
[3 * size_x / 8, size_y / 2, -3 * size_z / 8])
COMPONENT.AddLinkPoint('D', [0, 1, 0],
[-3 * size_x / 8, size_y / 2, -3 * size_z / 8])
COMPONENT.AddLinkPoint('E', [0, 1, 0], [0, size_y / 2, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def MC906(rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = 0.8
size_y = 0.8
size_z = 0.6
density_brick = density['Steel Forged Concrete'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='white_bricks.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [0, 0, 1], [0, 0.9 * size_y / 2, size_z / 2])
COMPONENT.AddLinkPoint('B', [0, 0, -1], [0, 0.9 * size_y / 2, -size_z / 2])
# Bottom mounting sockets
COMPONENT.AddLinkPoint('C', [0, -1, 0], [0, -size_y / 2, size_z / 4])
COMPONENT.AddLinkPoint('D', [0, -1, 0], [0, -size_y / 2, -size_z / 4])
# Top mounting sockets
COMPONENT.AddLinkPoint('E', [0, 1, 0], [0, size_y / 2, size_z / 4])
COMPONENT.AddLinkPoint('F', [0, 1, 0], [0, size_y / 2, -size_z / 4])
COMPONENT.Rotate(rot)
return COMPONENT
def MC1XX(M1, M2, M3, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = M1
size_y = M2
size_z = M2
density_brick = density['Aluminium'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='brushsteel.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [-1, 0, 0], [-size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('B', [1, 0, 0], [size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('C', [0, 0, -1], [0, 0, -size_z / 2])
COMPONENT.AddLinkPoint('D', [0, 0, 1], [0, 0, size_z / 2])
COMPONENT.AddLinkPoint('E', [0, -1, 0],
[-(size_x / 2 - M3), -size_y / 2, 0])
COMPONENT.AddLinkPoint('F', [0, -1, 0],
[(size_x / 2 - M3), -size_y / 2, 0])
COMPONENT.AddLinkPoint('G', [0, 1, 0], [-(size_x / 2 - M3), size_y / 2, 0])
COMPONENT.AddLinkPoint('H', [0, 1, 0], [(size_x / 2 - M3), size_y / 2, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def MC3XX(M1, M2, M3, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = M1
size_y = M3
size_z = M2
density_brick = density['PVC'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='pvc_weave_brown.png',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [-1, 0, 0], [-size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('B', [1, 0, 0], [size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('C', [0, 0, -1], [0, 0, -size_z / 2])
COMPONENT.AddLinkPoint('D', [0, 0, 1], [0, 0, size_z / 2])
COMPONENT.AddLinkPoint('E', [0, -1, 0], [0, -size_y / 2, 0])
COMPONENT.AddLinkPoint('F', [0, 1, 0], [0, size_y / 2, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def sponsorFlag(MiroSystem, pos, logo, spin=0):
foot_h = 0.08
foot_r = 0.3
leg_h = 0.4
leg_r = 0.02
sign_h = 1.6
sign_w = 0.6
sign_t = 0.03
foot_pos = [pos[0], pos[1]+foot_h/2, pos[2]]
leg_pos = [pos[0], pos[1]+foot_h+leg_h/2, pos[2]]
sign_pos = [pos[0], pos[1]+foot_h+leg_h+sign_h/2, pos[2]]
# Foot
foot = MiroAPI.add_cylinderShape(MiroSystem, foot_r, foot_h, 1000, foot_pos, texture='black_smere.jpg', Fixed=False, scale=[1,-1])
# Pole
leg = MiroAPI.add_cylinderShape(MiroSystem, leg_r, leg_h, 500, leg_pos, texture='black_smere.jpg', Fixed=False, scale=[1,-1])
# Sign
sign = MiroAPI.add_boxShape(MiroSystem, sign_w, sign_h, sign_t, sign_pos, density=30, texture=logo, Fixed=False)
# Hinges
h1 = [pos[0], pos[1]+foot_h, pos[2]]
h2 = [pos[0], pos[1]+foot_h+leg_h, pos[2]]
MiroAPI.LinkBodies_Hinge(foot, leg, h1, [0,1,0], MiroSystem)
MiroAPI.LinkBodies_Hinge(leg, sign, h2, [0,1,0], MiroSystem)
if spin:
MiroAPI.SetBodyAngularFrequency(sign, spin)
def measureBox(MiroSystem, pos, dims):
pos = np.array(pos)
d = 0.02
lx = dims[0] + 2*d
ly = dims[1] + d
lz = dims[2]
# Base
MiroAPI.add_boxShape(MiroSystem, dims[0], d, dims[2], pos+np.array([0,d/2,0]), texture='wood_ikea_style.png')
# x -
MiroAPI.add_boxShape(MiroSystem, d, ly, lz, pos+np.array([-(dims[0]+d)/2, (dims[1]+d)/2, 0]), texture='wood_ikea_style.png')
# x +
MiroAPI.add_boxShape(MiroSystem, d, ly, lz, pos+np.array([ (dims[0]+d)/2, (dims[1]+d)/2, 0]), texture='wood_ikea_style.png')
# z -
MiroAPI.add_boxShape(MiroSystem, lx, ly, d, pos+np.array([ 0, (dims[1]+d)/2,-(dims[2]+d)/2]), texture='wood_ikea_style.png')
# z +
MiroAPI.add_boxShape(MiroSystem, lx, ly, d, pos+np.array([ 0, (dims[1]+d)/2, (dims[2]+d)/2]), texture='wood_ikea_style.png')
def tabletop(MiroSystem, table_pos, size_table):
if(size_table[0] < 0.6):
tex = 'textures/MITstol.jpg'
else:
tex = 'textures/MITbord.jpg'
pos = table_pos + np.array([0,size_table[1]/2 + size_table[3],0])
return MiroAPI.add_boxShape(MiroSystem, size_table[0], size_table[1], size_table[2], pos, tex, Fixed=FIXED)
def back_stage(system):
coner_pos = np.array([-5.3, 1.55, -8.8]) # Real coner -5.3,1.25,-8.8
length = 1.3
in_screen_pos = coner_pos + np.array([1 / np.sqrt(2), 0, 1 / np.sqrt(2)
]) * length
size_len = 2.5
size_width = 0.05
size_height = 2.5
MiroAPI.add_boxShape(system,
size_len,
size_height,
size_width,
in_screen_pos,
texture='tf-logo.jpg',
scale=[4, 3],
rotY=45)
def greenpole(MiroSystem, d, l, spin, tilt, pos, Fixed=True):
p = np.array(pos)
return MiroAPI.add_boxShape(MiroSystem,
d,
l,
d,
p,
'MITentrance.png',
rotY=spin,
rotZ=tilt,
rotOrder=['z', 'y'],
scale=[0.5, 50],
color=[0.02, 0.1, 0.01],
Fixed=Fixed)
def QuickEntrance(MiroSystem, pos_south, pos_north):
h = 3.1
center = np.array([(pos_south[0] + pos_north[0]) / 2,
(pos_south[1] + pos_north[1]) / 2 + h / 2,
(pos_south[2] + pos_north[2]) / 2])
wid = np.abs(pos_south[0] - pos_north[0])
# Door wall
MiroAPI.add_boxShape(MiroSystem,
wid / 2,
h / 2,
0.05,
center,
texture='MITentrance_quick.png')
# south wall
p = np.array([pos_south[0] - 0.05, 1.51, pos_south[2] - 0.89 / 2])
MiroAPI.add_boxShape(MiroSystem,
0.1,
3.02,
0.89,
p,
texture='MITentrance_quick.png')
def MC0XX(M1, M2, M3, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = M1
size_y = M3
size_z = M2
density_brick = density['ABS'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='MITstol.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
# Top
COMPONENT.AddLinkPoint('A', [0, 1, 0], [(size_x / 2 - 0.02), size_y / 2,
(size_z / 2 - 0.02)])
COMPONENT.AddLinkPoint(
'B', [0, 1, 0],
[-(size_x / 2 - 0.02), size_y / 2, (size_z / 2 - 0.02)])
COMPONENT.AddLinkPoint(
'C', [0, 1, 0],
[(size_x / 2 - 0.02), size_y / 2, -(size_z / 2 - 0.02)])
COMPONENT.AddLinkPoint(
'D', [0, 1, 0],
[-(size_x / 2 - 0.02), size_y / 2, -(size_z / 2 - 0.02)])
# Bottom
COMPONENT.AddLinkPoint('E', [0, -1, 0], [0, -size_y / 2, 0])
# Sides
COMPONENT.AddLinkPoint('F', [0, 0, -1],
[-(size_x / 2 - 0.02), 0, -size_z / 2])
COMPONENT.AddLinkPoint('G', [0, 0, -1],
[(size_x / 2 - 0.02), 0, -size_z / 2])
COMPONENT.AddLinkPoint('H', [0, 0, 1],
[-(size_x / 2 - 0.02), 0, size_z / 2])
COMPONENT.AddLinkPoint('I', [0, 0, 1],
[(size_x / 2 - 0.02), 0, size_z / 2])
COMPONENT.AddLinkPoint('J', [-1, 0, 0], [-size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('K', [1, 0, 0], [size_x / 2, 0, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def MSL03(rot=[0, 0, 0]):
size_x = 0.02
size_y = 0.02
size_z = 0.02
sensor_body = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z, [0, 0, 0],
texture='MSA01.png',
Fixed=False)
# Generate MiroComponent based MiroSensor with above ChBody
SENSOR = mc.MiroSensor_Lidar(sensor_body, 50, 90, 2)
# Top
SENSOR.AddLinkPoint('Linkpoint', [0, 1, 0], [0, size_y / 2, 0])
SENSOR.Rotate(rot)
return SENSOR
def mit_outside_ground(MiroSystem):
# Add a ground outside as a huge box
MIT_ground_x = 1000
MIT_ground_z = 80
MIT_floor_pos = np.array([300, -1.15, 20])
MiroAPI.add_boxShape(MiroSystem, MIT_ground_x, 2, MIT_ground_z, MIT_floor_pos, 'grey concrete.jpg',scale=[23,18])
dims = [4, 0.6, 10]
pos = [15, -0.15, 25]
MiroAPI.add_boxShape(MiroSystem, dims[0], dims[1], dims[2], pos, rotX= 0*np.arcsin(dims[1]/dims[2]), rotZ= 1*np.arcsin(dims[1]/dims[0]), texture='grey concrete.jpg',scale=[23,18], rotDegrees=False)
dims = [4, 0.6, 10]
pos = [20, -0.15, 25]
MiroAPI.add_boxShape(MiroSystem, dims[0], dims[1], dims[2], pos, rotX= 0*np.arcsin(dims[1]/dims[2]), rotZ= -1*np.arcsin(dims[1]/dims[0]), texture='grey concrete.jpg',scale=[23,18], rotDegrees=False)
def MSO01(rot=[0, 0, 0]):
size_x = 0.04
size_y = 0.012
size_z = 0.024
# density_brick = 1000 # kg/m^3
mass_brick = 0.040
sensor_body = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z, [0, 0, 0],
texture='MSO01.png',
Fixed=False,
mass=mass_brick)
# Generate MiroComponent based MiroSensor with above ChBody
SENSOR = mc.MiroSensor_Odometer(sensor_body)
# Top
SENSOR.AddLinkPoint('Linkpoint', [0, 1, 0], [0, size_y / 2, 0])
SENSOR.Rotate(rot)
return SENSOR
def build(MiroSystem, SPEEDMODE=False):
H = 3.32
wall_t = 0.1 * 2
posW = np.array([0.6, 5 / 2 * H, 5.1])
posE = np.array([1.6, 3 / 2 * H, -8.9])
posS = np.array([-5.4, 3 / 2 * H, -1.9]) #3/2 * H
if (SPEEDMODE):
MiroAPI.add_boxShape(MiroSystem, 11.8, H, wall_t, posW,
'MITwall_West.jpg')
MiroAPI.add_boxShape(MiroSystem, 2 * 6.9, 3 * H, wall_t, posE,
'MITwall_East.jpg', [-4, -3])
MiroAPI.add_boxShape(MiroSystem, wall_t, 3 * H, 2 * 6.9, posS,
'MITwall_South.jpg', [4, 3])
else:
MIT_Offices_East.build(MiroSystem, SPEEDMODE)
MIT_Offices_South.build(MiroSystem, SPEEDMODE)
MIT_Offices_West.build(MiroSystem, SPEEDMODE)
MIT_Officewalls(MiroSystem, H, wall_t, posW, posE, posS)
def MIT_Officewalls(MiroSystem, H, wall_t, posW, posE, posS):
corner_windowpane0 = np.array([-5.29, 2 * H + 1.5, 4.99])
first_windowpane0 = np.array([
corner_windowpane0[0] + 0.10, corner_windowpane0[1],
corner_windowpane0[2]
])
corner_windowpane1 = np.array([-0.7, 2 * H + 1.5, 4.99])
first_windowpane1 = np.array([
corner_windowpane1[0] + 0.25, corner_windowpane1[1],
corner_windowpane1[2]
])
corner_windowpane2 = np.array([4.125, 2 * H + 1.5, 4.99])
first_windowpane2 = np.array([
corner_windowpane2[0] + 0.25, corner_windowpane2[1],
corner_windowpane2[2]
])
v_windowpane_size = np.array([0.05, 3, 0.01]) #vertical window pane size
pos_down = np.array([posW[0], posW[1] - 1.26, posW[2]])
pos_up = np.array([posW[0], posW[1] + 1.51, posW[2]])
#concrete part under and over windows
MiroAPI.add_boxShape(MiroSystem,
11.8,
0.8,
0.2,
pos_down,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
11.8,
0.3,
0.2,
pos_up,
texture='white concrete.jpg',
scale=[9, 12])
#1st window vertical
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
corner_windowpane0,
texture='wood_ikea_style.png')
spacingA = 0.61
for k in range(0, 8):
tmp = np.array([spacingA * k, 0, 0])
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
tmp + first_windowpane0,
texture='wood_ikea_style.png')
if k == 3:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingA / 2, 0, 0]) + tmp +
first_windowpane0,
texture='wood_ikea_style.png')
#2nd window vertical
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
corner_windowpane1,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
first_windowpane1,
texture='wood_ikea_style.png')
spacingB = 0.685
for k in range(0, 7):
tmp = np.array([spacingB * k, 0, 0])
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
tmp + first_windowpane1,
texture='wood_ikea_style.png')
if k == 1:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingB / 2, 0, 0]) + tmp +
first_windowpane1,
texture='wood_ikea_style.png')
if k == 4:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingB / 2, 0, 0]) + tmp +
first_windowpane1,
texture='wood_ikea_style.png')
if k == 6:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([0.25, 0, 0]) + tmp +
first_windowpane1,
texture='wood_ikea_style.png')
#3rd window vertical
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
corner_windowpane2,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
first_windowpane2,
texture='wood_ikea_style.png')
spacingC = 0.685
for k in range(0, 4):
tmp = np.array([spacingC * k, 0, 0])
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
tmp + first_windowpane2,
texture='wood_ikea_style.png')
if k == 2:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingC / 2, 0, 0]) + tmp +
first_windowpane2,
texture='wood_ikea_style.png')
#horizontal windowpanes
h_windowpane_size = np.array([0.05, 4.255,
0.01]) #horizontal window pane size
#2nd window horizontal
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 0.015, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 0.8, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 3 - 0.7, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 3, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
# This box is the window
window_pos = [1.51, 2 * H + 1.5 + 0.4, 4.985 + 0.0025]
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
h_windowpane_size[1] + 0.6 - 0.015,
window_pos,
rotY=90,
color=[0.5, 0.6, 0.7, 0.4])
#1st window horizontal
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 0.015, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 0.8, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 3 - 0.7, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 3, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
# This box is the window
window_pos = [-3, 2 * H + 1.5 + 0.4, 4.985 + 0.0025]
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
h_windowpane_size[1] + 0.36 - 0.015,
window_pos,
rotY=90,
color=[0.5, 0.6, 0.7, 0.4])
#3rd window horizontal
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 0.015, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 0.8, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 3 - 0.7, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 3, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
# This box is the window
window_pos = [5.25, 2 * H + 1.5 + 0.4, 4.985 + 0.0025]
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
h_windowpane_size[1] / 2 + 0.3 - 0.015,
window_pos,
rotY=90,
color=[0.5, 0.6, 0.7, 0.4])
test_posS = np.array([posS[0] + 0.105, -0.16 + 0.025, posS[2]])
test_posE = np.array([posE[0], -0.16 + 0.025, posE[2] + 0.11])
make_window(v_windowpane_size[0], v_windowpane_size[1],
v_windowpane_size[2], h_windowpane_size[0],
h_windowpane_size[1], h_windowpane_size[2], test_posS, 'south',
0.685, MiroSystem)
make_window(v_windowpane_size[0], v_windowpane_size[1],
v_windowpane_size[2], h_windowpane_size[0],
h_windowpane_size[1], h_windowpane_size[2], test_posE, 'east',
0.685, MiroSystem)
def AddToSystem(self, system):
MiroAPI.add_boxShape(system, self.width, self.height, 0.05, self.position, 'textures/notifboard.png', rotX=self.tilt_angle, rotY=self.turn_angle, rotDegrees=False)
self.bulb = MiroAPI.add_sphereShape(system, self.radius, self.position+self.bulb_pos, 'textures/notifbulb.png', rotX=self.tilt_angle+np.pi/2, rotY=self.turn_angle, rotDegrees=False)
def revolute_door(MiroSystem, d, l, spin, pos):
# Revolving door bottom ring
pos_down = np.array([pos[0], 0.0, pos[2]])
disk_bot = MiroAPI.add_cylinderShape(MiroSystem,
l,
0.01,
1000,
pos_down,
'MITentrance_floor.png',
Collide=False)
# Revolving door top ring
pos_up = np.array([pos[0], pos[1] + 0.1 / 2 + d / 2, pos[2]])
disk_top = MiroAPI.add_cylinderShape(MiroSystem, l, 0.1, 1000, pos_up,
'MITentrance.png')
l = l - 0.03
eps = 0.004
top = pos[1] - eps
mid = pos[1] / 2 + d / 4
bot = d / 2 + eps
dh = np.array([0, d / 2, 0])
# middle pole
pos[1] = mid
mid_pole = greenpole(MiroSystem,
d,
top - bot - d,
spin,
0,
pos,
Fixed=FIXED)
# top cross
pos[1] = top
top_x = greenpole(MiroSystem, d, 2 * (l - d), spin, 90, pos, Fixed=FIXED)
top_y = greenpole(MiroSystem,
d,
2 * (l - d),
spin + 90,
90,
pos,
Fixed=FIXED)
if not FIXED:
dir1 = [np.cos(np.deg2rad(spin)), 0, np.sin(np.deg2rad(spin))]
dir2 = [
np.cos(np.deg2rad(spin + 90)), 0,
np.sin(np.deg2rad(spin + 90))
]
MiroAPI.LinkBodies_Hinge(top_x, top_y, pos, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(top_x, top_y, pos, dir2, MiroSystem)
MiroAPI.LinkBodies_Hinge(top_x, mid_pole, pos - dh, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(top_x, disk_top, pos + dh, [0, 1, 0],
MiroSystem)
MiroAPI.LinkBodies_Hinge(top_y, disk_top, pos + dh, [0, 1, 0],
MiroSystem)
# bottom cross
pos[1] = bot
bot_x = greenpole(MiroSystem, d, 2 * (l - d), spin, 90, pos, Fixed=FIXED)
bot_y = greenpole(MiroSystem,
d,
2 * (l - d),
spin + 90,
90,
pos,
Fixed=FIXED)
if not FIXED:
MiroAPI.LinkBodies_Hinge(bot_x, bot_y, pos, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_x, bot_y, pos, dir2, MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_x, mid_pole, pos + dh, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_x, disk_top, pos - dh, [0, -1, 0],
MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_y, disk_top, pos - dh, [0, -1, 0],
MiroSystem)
cross = [[top_x, bot_x], [top_y, bot_y]]
p = np.array([pos[0], mid, pos[2]])
for phi in [0, 90, 180, 270]:
angle = spin + phi
dp = np.array([
np.cos(np.deg2rad(angle)) * (l - d / 2), 0,
-np.sin(np.deg2rad(angle)) * (l - d / 2)
])
rod = greenpole(MiroSystem,
d,
top - bot + d,
angle,
0,
p + dp,
Fixed=FIXED)
if not FIXED:
dh = np.array([0, (top - bot + d) / 2, 0])
top_bar = cross[round(phi / 90) % 2][0]
bot_bar = cross[round(phi / 90) % 2][1]
MiroAPI.LinkBodies_Hinge(top_bar, rod, p + dp + dh, -dp,
MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_bar, rod, p + dp - dh, -dp,
MiroSystem)
# side walls
wid = 0.4
thick = 0.02
angle = -13
height = top - bot + d + 2 * eps
p = np.array([pos[0] - (l + 0.03 + thick / 2), mid, pos[2]])
p[0] = p[0] - np.sin(np.deg2rad(angle)) * wid / 2
p[2] = p[2] - np.cos(np.deg2rad(angle)) * wid / 2
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=angle,
color=[0.02, 0.1, 0.01])
p[2] = p[2] + np.cos(np.deg2rad(angle)) * wid
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=-angle,
color=[0.02, 0.1, 0.01])
p[0] = p[0] + np.sin(np.deg2rad(angle)) * wid + 2 * (l + 0.03 + thick / 2)
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=angle,
color=[0.02, 0.1, 0.01])
p[2] = p[2] - np.cos(np.deg2rad(angle)) * wid
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=-angle,
color=[0.02, 0.1, 0.01])
def FullEntrance(MiroSystem, pos_south, pos_north):
d = 0.08
l = 3.02
# Pole in front of doors
p = np.array([pos_south[0] + 2.89, 1.51, pos_south[2] - 0.6])
MiroAPI.add_boxShape(MiroSystem,
2 * d,
l,
2 * d,
p,
texture='white concrete.jpg',
scale=[4, 12])
# Emergency exit sign
p = np.array([pos_south[0] + 2.89, 2.7, pos_south[2] - 0.6 - d - 0.01])
MiroAPI.add_boxShape(MiroSystem,
0.568 * 0.7,
0.285 * 0.7,
0.02,
p,
texture='exit.png')
# Inner doorframe
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + (1 / 2) * d, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 0.68, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 2.72, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 3.06, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 5.10, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 5.44, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 6.58, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_north[0] - (1 / 2) * d, 1.51, pos_north[2]])
# Horizontal parts
greenpole(MiroSystem, d, (pos_north[0] - pos_south[0]), 0, 90, [
(pos_north[0] + pos_south[0]) / 2, 2.5 + d / 2, pos_north[2] - d / 20
])
greenpole(MiroSystem, d, (pos_north[0] - pos_south[0]), 0, 90, [
(pos_north[0] + pos_south[0]) / 2, 3.0 - d / 2, pos_north[2] - d / 20
])
# Small bits on floor
for s in [[(1 / 2) * d, 0.68], [2.72, 3.06], [5.10, 5.44],
[6.58, pos_north[0] - pos_south[0] - (1 / 2) * d]]:
greenpole(MiroSystem, d, (s[1] - s[0] - d), 0, 90,
[pos_south[0] + (s[1] + s[0]) / 2, d / 2, pos_north[2]])
# Revolving doors
revolute_door(MiroSystem, d, 0.98, 15,
[pos_south[0] + 1.70, 2.4 - d / 2, pos_south[2]])
revolute_door(MiroSystem, d, 0.98, 50,
[pos_south[0] + 4.08, 2.4 - d / 2, pos_south[2]])
# Side door, inner
normal_door(MiroSystem, d, 1.1 - d, 232,
[pos_south[0] + 6.58 - d, 2.5 - d / 2, pos_south[2]])
########### INNER PART STOPS HERE ###########
width = pos_north[0] - pos_south[0] + 3.04
depth = 5
inner_depth = 2.8
p = np.array(
[pos_south[0] - 2 + width / 2, -0.08, pos_south[2] + depth / 2])
MiroAPI.add_boxShape(MiroSystem, width, 0.16, 5, p, 'MIT_stone_floor.jpg')
p = np.array([p[0], 3.08, p[2]])
MiroAPI.add_boxShape(MiroSystem, width, 0.16, 5, p, 'MIT_stone_floor.jpg')
# Outer door frames
z = pos_south[2] + inner_depth
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 0.00 + d / 2, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 0.33, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 1.51, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 1.59, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 2.77, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 3.25, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 4.43, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 4.51, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 5.69, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 6.02 - d / 2, 1.51, z])
# Outer doors
normal_door(MiroSystem, d, 1.1 - d, -42,
[pos_south[0] + 0.33 + d, 2.5 - d / 2, z]) # south outward
normal_door(MiroSystem, d, 1.1 - d, 180,
[pos_south[0] + 2.77 - d, 2.5 - d / 2, z]) # south inward
normal_door(MiroSystem, d, 1.1 - d, -0,
[pos_south[0] + 3.25 + d, 2.5 - d / 2, z]) # north outward
normal_door(MiroSystem, d, 1.1 - d, 180,
[pos_south[0] + 5.69 - d, 2.5 - d / 2, z]) # north inward
greenpole(MiroSystem, d, 6.02, 0, 90,
[pos_south[0] + 3.01, 2.5 + d / 2, z - d / 20])
greenpole(MiroSystem, d, 6.02, 0, 90,
[pos_south[0] + 3.01, 3.0 - d / 2, z - d / 20])
# Small bits on floor
for s in [[d / 2, 0.33], [2.77, 3.25], [5.69, 6.02 - d / 2]]:
greenpole(MiroSystem, d, (s[1] - s[0] - d), 0, 90,
[pos_south[0] + (s[1] + s[0]) / 2, d / 2, z])
# south wall
p = np.array(
[pos_south[0] - 0.05, 1.51, pos_south[2] + inner_depth / 2 - 0.89 / 2])
MiroAPI.add_boxShape(MiroSystem,
0.1,
3.02,
inner_depth + 0.89,
p,
'yellow_brick.jpg',
scale=[7, 9])
# north wall
np.array([pos_north[0] + 0.05, 1.51, pos_south[2] + inner_depth / 2])
MiroAPI.add_boxShape(MiroSystem,
0.1,
3.02,
inner_depth,
p,
'yellow_brick.jpg',
scale=[6, 9])
# WEST WALL
w = 2
dw = 0.96
p = np.array([pos_north[0] + w / 2 - dw, 1.51, z])
MiroAPI.add_boxShape(MiroSystem,
w,
3.02,
0.16,
p,
'yellow_brick.jpg',
scale=[2, 9],
color=[0.6, 0.4, 0.0])
p = np.array([pos_south[0] - dw, 1.51, z])
MiroAPI.add_boxShape(MiroSystem,
w,
3.02,
0.16,
p,
'yellow_brick.jpg',
scale=[2, 9],
color=[0.6, 0.4, 0.0])
# Cement pillars outside
r = 0.12
p = np.array(
[pos_south[0] - 1, 1.51, z - r + (depth - inner_depth) * (3 / 4)])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
p = np.array([
pos_north[0] + 1 - 0.96, 1.51, z - r + (depth - inner_depth) * (3 / 4)
])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
p = np.array([pos_south[0] + 1.6, 1.51, z - r + (depth - inner_depth)])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
p = np.array(
[pos_north[0] - 1.6 - 0.96, 1.51, z - r + (depth - inner_depth)])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
def make_window(size_vx, size_vy, size_vz, size_hx, size_hy, size_hz, mid_pos,
wall, spacing, MiroSystem): #size_hx, size_hy, size_hz
#wall sets orientation of window, set wall = 'south' or 'east'
# pos sets position
#and spacing sets the spacing between windowpanes
H = 3.32
W = 4.6
dists = np.array([97, 207, 358, 436, 510, 654, 802, 876, 951, 1102, 1213])
dists = dists - (dists[-1] + dists[0]) / 2
dists = dists / dists[-1] * (W - 3 * 0.16) / 2
test = 0.085
if wall == 'south':
#concrete part under and over windows
for fl in range(3):
bot_pos = mid_pos + np.array(
[-0.104, 0.15 + fl * 3.32 + 0.8 / 2, 0])
top_pos = mid_pos + np.array(
[-0.104, 0.15 + fl * 3.32 + 3.33 - 0.3 / 2, 0])
MiroAPI.add_boxShape(MiroSystem,
0.2,
0.8,
W * 3,
bot_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
0.2,
0.3,
W * 3,
top_pos,
texture='white concrete.jpg',
scale=[9, 12])
for wid in range(3):
left_pos = mid_pos + np.array(
[-0.102, 1.5 * 3.32, -6.78 + wid * W])
right_pos = mid_pos + np.array(
[-0.102, 1.5 * 3.32, -6.78 + W - 0.25 + wid * W])
MiroAPI.add_boxShape(MiroSystem,
0.2,
3.32 * 3,
0.25,
left_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
0.2,
3.32 * 3,
0.25,
right_pos,
texture='white concrete.jpg',
scale=[9, 12])
for i in range(1, 6, 2):
lvl_height = np.array([0, i / 2 * H, 0])
for j in [-1, 0, 1]:
lvl_width = np.array([0, 0, j * W])
# This box is the windows.
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
W - 3 * 0.16,
mid_pos + lvl_width + lvl_height +
np.array([-0.0025, 0.4, 0]),
color=[0.5, 0.6, 0.7, 0.6])
for k in range(0, len(dists)):
tmp = np.array([-0.005, 0, dists[k]])
result_pos = mid_pos + lvl_width + lvl_height + tmp
MiroAPI.add_boxShape(MiroSystem,
size_vx,
size_vy,
size_vz,
result_pos,
rotY=90,
texture='wood_ikea_style.png')
for n in [-1, 1]:
hzt_pos = np.array([0, 3 / 2, 0])
r_hzt_pos = mid_pos + n * hzt_pos + lvl_height + lvl_width
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos,
rotX=90,
rotZ=90,
texture='wood_ikea_style.png')
if n == -1:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.8 * n * (-1), 0]),
rotX=90,
rotZ=90,
texture='wood_ikea_style.png')
else:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.7 * n * (-1), 0]),
rotX=90,
rotZ=90,
texture='wood_ikea_style.png')
if wall == 'east':
for fl in range(3):
bot_pos = mid_pos + np.array(
[0, 0.15 + fl * 3.32 + 0.8 / 2, -0.104])
top_pos = mid_pos + np.array(
[0, 0.15 + fl * 3.32 + 3.32 - 0.3 / 2, -0.104])
MiroAPI.add_boxShape(MiroSystem,
W * 3,
0.8,
0.2,
bot_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
W * 3,
0.3,
0.2,
top_pos,
texture='white concrete.jpg',
scale=[9, 12])
for wid in range(3):
left_pos = mid_pos + np.array([-6.8 + wid * W, 1.5 * 3.32, -0.102])
right_pos = mid_pos + np.array(
[-6.8 + W - 0.25 + wid * W, 1.5 * 3.32, -0.102])
MiroAPI.add_boxShape(MiroSystem,
0.25,
3.32 * 3,
0.2,
left_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
0.25,
3.32 * 3,
0.2,
right_pos,
texture='white concrete.jpg',
scale=[9, 12])
for i in range(1, 6, 2):
lvl_height = np.array([0, i / 2 * H, 0])
for j in [-1, 0, 1]:
lvl_width = np.array([j * W, 0, 0])
# This box is the windows.
if j != -1 or i != 5:
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
W - 3 * 0.16,
mid_pos + lvl_width + lvl_height +
np.array([0, 0.4, -0.0025]),
rotY=90,
color=[0.5, 0.6, 0.7, 0.6])
for k in range(0, len(dists)):
tmp = np.array([dists[k], 0, 0])
result_pos = mid_pos + lvl_width + lvl_height + tmp
MiroAPI.add_boxShape(MiroSystem,
size_vz,
size_vy,
size_vx,
result_pos,
rotY=90,
texture='wood_ikea_style.png',
Collide=(j != -1 or i != 5))
for n in [-1, 1]:
hzt_pos = np.array([0, 3 / 2, -0.005])
r_hzt_pos = mid_pos + n * hzt_pos + lvl_height + lvl_width
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos,
rotZ=90,
texture='wood_ikea_style.png')
if n == -1:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.8 * n * (-1), 0]),
rotZ=90,
texture='wood_ikea_style.png')
else:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.7 * n * (-1), 0]),
rotZ=90,
texture='wood_ikea_style.png')
def screen(system, SPEEDMODE=False):
size_length = 4
size_width = 0.01
size_height = size_length / (4 / 3)
# Screen
grouplogo_file = '../GroupLogo_local.png'
if not os.path.isfile('GroupLogo_local.png'):
grouplogo_file = '../GroupLogo.png'
alpha = np.pi / 10
beta = np.pi / 4
corner_pos = np.array([-5.3, 3.55, -8.8])
delta_tilt = np.array([
np.sin(alpha) / np.sqrt(2),
np.cos(alpha),
np.sin(alpha) / np.sqrt(2)
]) * size_height / 2
screen_pos = corner_pos + np.array([1 / np.sqrt(8), 0, 1 / np.sqrt(8)
]) * size_length + delta_tilt
MiroAPI.add_boxShape(system,
size_length,
size_height,
size_width,
screen_pos,
texture=grouplogo_file,
scale=[-4, -3],
rotX=alpha,
rotY=beta,
rotDegrees=False)
# Top cylinder
r = 0.08
roll_pos = screen_pos + delta_tilt * (
(1.9 * r + size_height) / size_height)
MiroAPI.add_cylinderShape(system,
0.08,
4.15,
1000,
roll_pos,
texture=False,
rotAngle=90,
rotAxis=[1, 0, 1])
if not SPEEDMODE:
# Hanging bars
bar_h = 0.05
roller_mid = screen_pos + delta_tilt * (
(3.9 * r + size_height) / size_height) + np.array(
[0, bar_h / 2, 0])
dz = np.array([0, 0, 0.25])
dx = np.array([0.25, 0, 0])
offset = np.array([1 / np.sqrt(2), 0, -1 / np.sqrt(2)]) * 1.8
MiroAPI.add_boxShape(system,
bar_h,
bar_h,
1.2,
roller_mid + offset - dz,
texture=False)
MiroAPI.add_boxShape(system,
1.2,
bar_h,
bar_h,
roller_mid - offset - dx,
texture=False)
def UNbox(MiroSystem, pos, goal_nr, skew):
pos[1] = pos[1]+0.2
MiroAPI.add_boxShape(MiroSystem, 0.4, 0.4, 0.4, pos, density=8, rotY=skew, texture='UN_'+str(goal_nr)+'.png', Fixed=False)
def MIT_door(MiroSystem, pos, rot = 0):
b = 1.0
h = 2.1
pos = [pos[0], pos[1]+h/2, pos[2]]
MiroAPI.add_boxShape(MiroSystem, b, h, 0.16, pos, rotY=rot, texture='MIT_door.png', Collide=False)
def chair_back(MiroSystem, pos_back, size_back_x,size_back_y, size_back_z):
return MiroAPI.add_boxShape(MiroSystem, size_back_x, size_back_y, size_back_z, pos_back, 'MITstol.jpg', Fixed=FIXED)