def __init__(self):
#model parameters
#self.box_dim=[0.094, 0.094, 0.23]
self.box_dim=[0.09, 0.09, 0.23]
self.box_center=array([0.,0.,0])
self.box_planes=[[(1.,0.,0),(self.box_dim[0]/2.,0.,0.)], #(normal, point)
[(-1.,0.,0),(-self.box_dim[0]/2.,0.,0.)],
[(0.,1.,0),(0.,self.box_dim[1]/2.,0.)],
[(0.,-1.,0),(0,-self.box_dim[1]/2.,0.)],
[(0.,0.,1),(0.,0.,self.box_dim[2]/2.)],
[(0.,0.,-1),(0.,0.,-self.box_dim[2]/2.)]]
self.box_vertices={
0: array([[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2]]),
1: array([[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2]]),
2: array([[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2]]),
3: array([[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2]]),
4: array([[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2]]),
5: array([[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2]])}
self.weight_balance=0.4
self.weight=0.418999761588 #kilos
self.weight_force=9.81*self.weight
self.friction_finger_z_force=0.
self.friction_coef_object_table_static=0.297760967638
self.friction_coef_finger_object_static=0.692988300356
self.friction_coef_object_table=0.269154097429
self.friction_coef_finger_object=0.567399204934
self.fmax=self.friction_coef_object_table*(self.weight_force-self.friction_finger_z_force)
self.mmax_base=LS.calc_mmax_analytic(self.friction_coef_object_table,1.,self.box_dim[0],self.box_dim[1])
self.mmax=self.mmax_base*(self.weight_force-self.friction_finger_z_force)
print "fmax, mmax", self.fmax, self.mmax
self.tilt_height=self.box_dim[2]/2.-0.1*self.box_dim[2]
self.max_tilt_angle=3.*pi/180.
self.markers_transformations={ #this matrices represent what's the pose of the marker with respect of the center of the object
"/4x4_1": array([[0., 0., -1., -self.box_dim[0]/2.],
[-1., 0., 0., 0.02],
[0., 1., 0., 0.0625],
[0., 0., 0., 1.]])
# "/4x4_1": identity(4)
}
def __init__(self):
#model parameters
#self.box_dim=[0.094, 0.094, 0.23]
self.box_dim=[0.052, 0.192, 0.26]
self.box_center=array([0.,0.,0])
self.box_planes=[[(1.,0.,0),(self.box_dim[0]/2.,0.,0.)], #(normal, point)
[(-1.,0.,0),(-self.box_dim[0]/2.,0.,0.)],
[(0.,1.,0),(0.,self.box_dim[1]/2.,0.)],
[(0.,-1.,0),(0,-self.box_dim[1]/2.,0.)],
[(0.,0.,1),(0.,0.,self.box_dim[2]/2.)],
[(0.,0.,-1),(0.,0.,-self.box_dim[2]/2.)]]
self.box_vertices={
0: array([[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2]]),
1: array([[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2]]),
2: array([[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2]]),
3: array([[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2]]),
4: array([[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2]]),
5: array([[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2]])}
self.weight_balance=0.268
self.weight=0.24127960284 #kilos
self.weight_force=9.81*self.weight
self.friction_finger_z_force=0.
self.friction_coef_object_table_static=0.342754805732
self.friction_coef_finger_object_static=0.937802992473
self.friction_coef_object_table=0.292487204877
self.friction_coef_finger_object=0.660347225488
self.fmax=self.friction_coef_object_table*(self.weight_force-self.friction_finger_z_force)
self.mmax_base=LS.calc_mmax_analytic(self.friction_coef_object_table,1.,self.box_dim[0],self.box_dim[1])
self.mmax=self.mmax_base*(self.weight_force-self.friction_finger_z_force)
print "fmax, mmax", self.fmax, self.mmax
self.max_tilt_angle=3.0*pi/180.
self.tilt_height=self.box_dim[2]/2.-0.3*self.box_dim[2]
self.markers_transformations={ #this matrices represent what's the pose of the marker with respect of the center of the object
"/4x4_1": array([[0., 0., -1., -self.box_dim[0]/2.],
[-1., 0., 0., 0.02],
[0., 1., 0., 0.033+0.035/2.],
[0., 0., 0., 1.]])
# "/4x4_1": identity(4)
}
def __init__(self):
#model parameters
self.box_dim=[0.062, 0.093, 0.18]
self.box_center=array([0.,0.,0])
self.box_planes=[[(1.,0.,0),(self.box_dim[0]/2.,0.,0.)], #(normal, point)
[(-1.,0.,0),(-self.box_dim[0]/2.,0.,0.)],
[(0.,1.,0),(0.,self.box_dim[1]/2.,0.)],
[(0.,-1.,0),(0,-self.box_dim[1]/2.,0.)],
[(0.,0.,1),(0.,0.,self.box_dim[2]/2.)],
[(0.,0.,-1),(0.,0.,-self.box_dim[2]/2.)]]
self.box_vertices={
0: array([[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2]]),
1: array([[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2]]),
2: array([[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2]]),
3: array([[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2]]),
4: array([[-self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2],
[-self.box_dim[0]/2,self.box_dim[1]/2,self.box_dim[2]/2]]),
5: array([[-self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,self.box_dim[1]/2,-self.box_dim[2]/2],
[self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2],
[-self.box_dim[0]/2,-self.box_dim[1]/2,-self.box_dim[2]/2]])}
self.weight_balance=0.520
self.weight=0.510163341925 #kilos
self.weight_force=9.81*self.weight
self.friction_finger_z_force=0.
self.friction_coef_object_table=0.240329579329
self.friction_coef_object_table_static=0.313318050154
self.friction_coef_finger_object=0.733039972538
self.friction_coef_finger_object_static=0.884649835141
self.fmax=self.friction_coef_object_table*(self.weight_force-self.friction_finger_z_force)
self.mmax_base=LS.calc_mmax_analytic(self.friction_coef_object_table,1.,self.box_dim[0],self.box_dim[1])
self.mmax=self.mmax_base*(self.weight_force-self.friction_finger_z_force)
print "fmax, mmax", self.fmax, self.mmax
self.tilt_height=self.box_dim[2]/2.-0.2*self.box_dim[2]
self.max_tilt_angle=4.*pi/180.
self.markers_transformations={ #this matrices represent what's the pose of the marker with respect of the center of the object
"/4x4_1": array([[0., 0., -1., -self.box_dim[0]/2.],
[-1., 0., 0., 0.02],
[0., 1., 0., 0.023+0.035/2.+0.0],
[0., 0., 0., 1.]])
# "/4x4_1": identity(4)
}
