def gen_boxes(dimensions=4, spacing=0.5, size=0.05):
for x in range(-dimensions,dimensions+1):
for y in range(-dimensions,dimensions+1):
l = Link("box")
#box_geom = Box(1.0, 1.0, 1.0, mass=0.5)
#b = StructureCombination("box", box_geom)
#l.add_element(b)
if (x!=0 or y!=0):
l.make_box(1, size, size, 0.01*max(abs(x),abs(y)))
pos = Vector3(spacing*x,spacing*y,0)
l.set_position(pos)
l.rotate_around(Vector3(0, 0, 1), math.radians(x*y), relative_to_child=False)
model.add_element(l)
def test_direction_conversion(self):
"""
Tests converting vectors between direction frames.
:return:
"""
link = Link("my_link")
point = Vector3(0, 0, 1)
# At this point, it should be the same in the
# parent direction
x, y, z = link.to_parent_direction(point)
self.assertAlmostEqual(x, point.x)
self.assertAlmostEqual(y, point.y)
self.assertAlmostEqual(z, point.z)
# Now rotate the link 90 degrees over (1, 1, 0),
# this should cause the local vector (0, 1, 1)
# to land at 0.5 * [sqrt(2), -sqrt(2), 0]
link.rotate_around(Vector3(1, 1, 0), 0.5 * pi, relative_to_child=False)
hs2 = 0.5 * sqrt(2)
x, y, z = link.to_parent_direction(point)
self.assertAlmostEqual(x, hs2)
self.assertAlmostEqual(y, -hs2)
self.assertAlmostEqual(z, 0)
def test_direction_conversion(self):
"""
Tests converting vectors between direction frames.
:return:
"""
link = Link("my_link")
point = Vector3(0, 0, 1)
# At this point, it should be the same in the
# parent direction
x, y, z = link.to_parent_direction(point)
self.assertAlmostEqual(x, point.x)
self.assertAlmostEqual(y, point.y)
self.assertAlmostEqual(z, point.z)
# Now rotate the link 90 degrees over (1, 1, 0),
# this should cause the local vector (0, 1, 1)
# to land at 0.5 * [sqrt(2), -sqrt(2), 0]
link.rotate_around(Vector3(1, 1, 0), 0.5 * pi, relative_to_child=False)
hs2 = 0.5 * sqrt(2)
x, y, z = link.to_parent_direction(point)
self.assertAlmostEqual(x, hs2)
self.assertAlmostEqual(y, -hs2)
self.assertAlmostEqual(z, 0)
group = PosableGroup()
group.add_element(link)
group.add_element(minibox)
# Move and rotate the group to confuse the mechanism
# (this should just be undone at the align later)
group.rotate_around(Vector3(1, 1, 0), 0.1 * pi)
group.translate(Vector3(0.6, 0.7, 0.8))
# Create a new, larger box called link 2
link2 = Link("my_link_2")
link2.make_box(2.0, 4, 3, 3)
# Translate and rotate just to add some extra complexity
link2.translate(Vector3(0.5, 0.5, 2))
link2.rotate_around(Vector3(1, 1, 1), 0.5 * pi)
# Now align the group so its right center lands at
# the top center of link 2
group.align(
# Center of the right face of box 1
Vector3(1, 0, 0),
# Vector normal to box 2 right face
Vector3(1, 0, 0),
# Vector normal to box 2 top face should align with...(*)
Vector3(0, 0, 1),
# Center of the top face of box 2
Vector3(0, 0, 1.5),
# .. of the box.
box)
# Now, create a link and add both items to it
link = Link("my_link", elements=[box, cylinder])
# Calculate the correct inertial properties given
# the collision elements.
link.align_center_of_mass()
link.calculate_inertial()
# Rotate the link 45 degrees around the x-axis, specified in the parent frame
# just to demonstrate how that works (and to demonstrate align is still
# going to work after the rotation).
link.rotate_around(Vector3(1, 0, 0), math.radians(45), relative_to_child=False)
# Okay, not sure what this is supposed to be, but let's another wheel-like cylinder in
# a new link, and connect them with joints
wheel_geom = Cylinder(0.75, 0.1, mass=0.1)
wheel = StructureCombination("wheel", wheel_geom)
wheel_link = Link("my_wheel", elements=[wheel])
attachment_point = Vector3(0, 0, 0.5 * wheel_geom.length)
wheel_link.align(attachment_point, Vector3(0, 0, 1), Vector3(0, 1, 0),
Vector3(0, 0, 0.5 * box_geom.size[0] + cyl_geom.length),
Vector3(0, 0, 1), Vector3(1, 0, 0), link)
# Create a joint link, and set its position (which is in the child frame)
joint = Joint("revolute", link, wheel_link, axis=Vector3(0, 0, 1))
joint.set_position(attachment_point)
# .. of the box.
box
)
# Now, create a link and add both items to it
link = Link("my_link", elements=[box, cylinder])
# Calculate the correct inertial properties given
# the collision elements.
link.align_center_of_mass()
link.calculate_inertial()
# Rotate the link 45 degrees around the x-axis, specified in the parent frame
# just to demonstrate how that works (and to demonstrate align is still
# going to work after the rotation).
link.rotate_around(Vector3(1, 0, 0), math.radians(45), relative_to_child=False)
# Okay, not sure what this is supposed to be, but let's another wheel-like cylinder in
# a new link, and connect them with joints
wheel_geom = Cylinder(0.75, 0.1, mass=0.1)
wheel = StructureCombination("wheel", wheel_geom)
wheel_link = Link("my_wheel", elements=[wheel])
attachment_point = Vector3(0, 0, 0.5 * wheel_geom.length)
wheel_link.align(attachment_point, Vector3(0, 0, 1), Vector3(0, 1, 0),
Vector3(0, 0, 0.5 * box_geom.size[0] + cyl_geom.length),
Vector3(0, 0, 1), Vector3(1, 0, 0), link)
# Create a joint link, and set its position (which is in the child frame)
joint = Joint("revolute", link, wheel_link, axis=Vector3(0, 0, 1))
joint.set_position(attachment_point)
group = PosableGroup()
group.add_element(link)
group.add_element(minibox)
# Move and rotate the group to confuse the mechanism
# (this should just be undone at the align later)
group.rotate_around(Vector3(1, 1, 0), 0.1 * pi)
group.translate(Vector3(0.6, 0.7, 0.8))
# Create a new, larger box called link 2
link2 = Link("my_link_2")
link2.make_box(2.0, 4, 3, 3)
# Translate and rotate just to add some extra complexity
link2.translate(Vector3(0.5, 0.5, 2))
link2.rotate_around(Vector3(1, 1, 1), 0.5 * pi)
# Now align the group so its right center lands at
# the top center of link 2
group.align(
# Center of the right face of box 1
Vector3(1, 0, 0),
# Vector normal to box 2 right face
Vector3(1, 0, 0),
# Vector normal to box 2 top face should align with...(*)
Vector3(0, 0, 1),
# Center of the top face of box 2
Vector3(0, 0, 1.5),
