def podium(MiroSystem, pos, spin=0):
foot_h = 0.01
foot_r = 0.9
leg_h = 0.005
leg_r = 0.02
podium_r= 0.9
podium_h = 0.01
foot_pos = [pos[0], pos[1]+foot_h/2, pos[2]]
leg_pos = [pos[0], pos[1]+foot_h+leg_h/2, pos[2]]
podium_pos = [pos[0], pos[1]+foot_h+leg_h+podium_h/2, pos[2]]
# Foot
foot = MiroAPI.add_cylinderShape(MiroSystem, foot_r, foot_h, 1000, foot_pos, texture='black.jpg', Fixed=False)
# Pole
leg = MiroAPI.add_cylinderShape(MiroSystem, leg_r, leg_h, 500, leg_pos, texture='gammal5kr.png', Fixed=False)
# Sign
podium = MiroAPI.add_cylinderShape(MiroSystem, podium_r, podium_h, 1000, podium_pos, texture='podium-logo.jpg', 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, podium, h2, [0,1,0], MiroSystem)
if spin:
MiroAPI.SetBodyAngularFrequency(podium, spin)
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 MarkLinkpoint(self,
component_name,
linkpoint_name,
color='red',
marking_radius=0.01):
'''Add a colored sphere to the linkpoint of a component to identify it during simulation. \nUse 'red', 'blue' or 'green'.'''
if not self.use_helpers:
return
if color != 'blue' and color != 'green':
color = 'red'
if MiroAPI.API == 'AGX' and self.warning_print:
print(
'Warning: MiroModule.MarkLinkPoint is not stable in the AGX api, may cause unstable systems. Consider using MiroModule.DisableHelpers().'
)
texture = 'textures/markpattern_' + color + '.png'
backup_color = [(color == 'red') * 1, (color == 'green') * 1,
(color == 'blue') * 1]
comp = self.components[component_name]
pos = comp.GetLinkPoint(linkpoint_name)
ball = MiroAPI.add_sphereShape(False,
marking_radius,
pos,
texture=texture,
Collide=False,
Fixed=False,
color=backup_color)
link = MiroAPI.LinkBodies_Hinge(comp.GetBody(), ball, pos, [0, 1, 0])
self.hidden_bodies.append(ball)
self.hidden_links.append(link)
def MIT_chair(MiroSystem, pos_chair,rotation):
#dimensions of the chair
size_chair_x = 0.5
size_chair_y = 0.1
size_chair_z = 0.5
size_chair_leg_h = 0.42
size_leg_r = 0.02
size_back_cylinder_r = 0.015 # the back of the chair
size_back_cylinder_h = 0.38
size_back_x = size_chair_x/7
size_back_y = 0.2
size_back_z = size_chair_z + 0.05
seat = MIT_table(MiroSystem, pos_chair, size_chair_x, size_chair_y, size_chair_z, size_chair_leg_h, size_leg_r) # making the bottom of the chair
if rotation == 0:
pos_back = pos_chair + np.array([-size_chair_x/2.3, size_back_cylinder_h + size_chair_leg_h,0])
elif rotation == 1:
pos_back = pos_chair + np.array([0, size_back_cylinder_h + size_chair_leg_h,size_chair_z/2.3])
temp = size_back_x
size_back_x = size_back_z
size_back_z = temp
elif rotation == 2:
pos_back = pos_chair + np.array([size_chair_x/2.3,size_back_cylinder_h + size_chair_leg_h,0])
else:
pos_back = pos_chair + np.array([0, size_back_cylinder_h + size_chair_leg_h,-size_chair_z/2.3])
temp = size_back_x
size_back_x = size_back_z
size_back_z = temp
pos_back = pos_back + np.array([0, size_chair_y+size_back_y/2, 0])
neck = chair_back(MiroSystem, pos_back, size_back_x,size_back_y, size_back_z)
length_0 = np.sqrt((size_chair_x/2)**2 + (size_chair_z/2)**2) - 2*size_back_cylinder_r
theta_0 = rotation*0.5*np.pi - np.pi/4
for i in range(6):
theta = theta_0 + i*np.pi/10
length = length_0 - (i*(5-i)*(1-1/np.sqrt(2))*length_0)/6.25
n = np.array([- length*np.cos(theta), size_back_cylinder_h/2 + size_chair_leg_h + size_chair_y, length*np.sin(theta)])
pos_back = pos_chair + n
leg = table_leg(MiroSystem,pos_back, size_back_cylinder_r, size_back_cylinder_h)
if not FIXED:
MiroSystem.Add(MiroAPI.LinkBodies_Hinge(seat, leg, pos_back-np.array([0,size_back_cylinder_h,0]), [0,1,0]))
MiroSystem.Add(MiroAPI.LinkBodies_Hinge(neck, leg, pos_back+np.array([0,size_back_cylinder_h,0]), [0,1,0]))
def sodacan(MiroSystem, target, text = 'schrodbull.png', angle = 0, SPEEDMODE = False):
h = 0.22
r = 0.04
eps = 0.003
epsvec = np.array([0, eps/2, 0])
pos_can = np.array([target[0], target[1]+h/2+eps, target[2]])
# Create Can Hitbox
can = MiroAPI.add_cylinderShape(MiroSystem, r, h, 50, pos_can, rotY=angle, texture=text, Fixed=False, scale=[1,-1])
# Create lid and bottom
pos_lid = np.array([target[0], target[1]+eps*3/2+h, target[2]])
lid = MiroAPI.add_cylinderShape(MiroSystem, r, eps, 150, pos_lid, rotY=angle, texture='sodacan_lid.png', Fixed=False, scale=[1,1])
pos_bot = np.array([target[0], target[1]+eps/2, target[2]])
bot = MiroAPI.add_cylinderShape(MiroSystem, r, eps, 200, pos_bot, rotY=angle, texture='sodacan_bot.png', Fixed=False, scale=[1,1])
MiroSystem.Add(MiroAPI.LinkBodies_Hinge(can, lid, pos_lid-epsvec, [0, 1,0]))
MiroSystem.Add(MiroAPI.LinkBodies_Hinge(can, bot, pos_bot+epsvec, [0,-1,0]))
def MIT_table(MiroSystem, table_pos, size_table_x, size_table_y, size_table_z,size_leg_h, size_leg_r):
size_table = np.array([size_table_x, size_table_y, size_table_z, size_leg_h])
top = tabletop(MiroSystem, table_pos, size_table)
length = np.sqrt((size_table_x/2)**2 + (size_table_z/2)**2) - 2*size_leg_r
for i in range(4):
theta = i*0.5*np.pi + np.pi/4
n = np.array([length*np.cos(theta), size_leg_h/2, length*np.sin(theta)])
leg_pos = table_pos + n
leg = table_leg(MiroSystem,leg_pos, size_leg_r, size_leg_h)
if not FIXED:
MiroSystem.Add(MiroAPI.LinkBodies_Hinge(top, leg, leg_pos+np.array([0,size_leg_h,0]), [0,1,0]))
return top
def ConnectComponents(self,
name_A,
point_A,
name_B,
point_B,
dist=0,
move=True,
show_warning=True,
link_name=False,
lock_link=False):
comp_A = self.components[name_A]
comp_B = self.components[name_B]
if (move):
self.GetComponent(name_B).MoveToMatch(point_B,
self.GetComponent(name_A),
point_A, dist)
# Set Link position to the midpoint between the linkpoints
linkpos = (comp_A.GetLinkPoint(point_A) +
comp_B.GetLinkPoint(point_B)) / 2
# Get both link directions from the components
linkdirA = comp_A.GetLinkDir(point_A)
linkdirB = comp_B.GetLinkDir(point_B)
# If the dot product is negative, then the angle between the links is > 180 degrees and the links are at least somewhat facing
if np.linalg.norm(linkdirA) == 0:
linkdir = linkdirB
elif np.linalg.norm(linkdirB) == 0:
linkdir = linkdirA
elif np.dot(linkdirA, linkdirB) < 0:
linkdir = linkdirA - linkdirB
linkdir = linkdir / np.linalg.norm(linkdir)
else:
linkdir = linkdirA + linkdirB
linkdir = linkdir / np.linalg.norm(linkdir)
if show_warning:
print(
'Warning: Non-facing links. The links between ' + name_A +
'.' + point_A + ' and ' + name_B + '.' + point_B +
' are not facing eachother, check linkpoint and object orientation. Consider removing with MiroModule.RemoveHelpers() before running.'
)
hinge_link = MiroAPI.LinkBodies_Hinge(comp_A.GetBody(),
comp_B.GetBody(), linkpos,
linkdir)
# Add the link to the module's dictionary of links
if link_name:
self.links.update({link_name: hinge_link})
else:
name = name_A + "." + point_A + "_TO_" + name_B + "." + point_B
self.links.update({name: hinge_link})
self.graph_links.append({
'Source': name_A,
'Target': name_B,
'Weight': 1
})
if lock_link:
rotVec = np.array([1, 1, 1])
if np.dot(rotVec, linkdir) / (np.linalg.norm(rotVec) *
np.linalg.norm(rotVec)) < 0.01:
rotVec = np.array([1, -1, 1])
rotVec = rotVec - np.dot(rotVec, linkdir) * linkdir
rotVec = rotVec / np.linalg.norm(rotVec)
# 90 degree rotated link to emulate 0-spin link
hinge_link = MiroAPI.LinkBodies_Hinge(
comp_A.GetBody(), comp_B.GetBody(), linkpos,
MiroAPI.rotateVector(linkdir, 90, rotVec))
if link_name:
self.links.update({link_name + '_locker': hinge_link})
else:
name = name_A + "." + point_A + "_TO_" + name_B + "." + point_B + '_locker'
self.links.update({name: hinge_link})
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])