from __future__ import print_function
import sys
from sdfbuilder import Link, Model, SDF
from sdfbuilder.math import Vector3
# Create two similar boxes
link1 = Link("box1")
link1.make_box(1.0, 0.1, 0.3, 0.5)
link2 = Link("box2")
link2.make_box(1.0, 0.1, 0.3, 0.5)
# Align the top of box2 with the front of box1
link2.align(Vector3(0, 0, 0.25), Vector3(0, 0, -1), Vector3(1, 0, 0),
Vector3(0, -0.15, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), link1)
if __name__ == '__main__':
sdf = SDF()
model = Model("my_model")
model.add_element(link1)
model.add_element(link2)
sdf.add_element(model)
print(str(sdf))
# Minibox is... well, a mini box
minibox.make_box(0.1, 0.2, 0.2, 0.2)
minibox.align(
# Bottom left corner of minibox
Vector3(-0.1, -0.1, -0.1),
# Normal vector
Vector3(-0.1, -0.1, -0.1),
# Tangent vector
Vector3(-0.1, -0.1, 0.2),
# Top left of link
Vector3(-1, -1, 2),
# Normal vector
Vector3(0, 0, 1),
# Tangent vector
Vector3(1, 0, 0),
# Link to align with
link,
# All vectors relative to child frame
relative_to_child=True
)
# Add link and minibox to a posable group so we can move
# them around together.
# 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)
# Create a model and a wrapping SDF element, and output
# Move the model up so it won't intersect with the ground when inserted.
model = Model("my_robot", elements=[link, wheel_link, joint])
model.set_position(Vector3(0, 0, math.sqrt(0.5)))
sdf = SDF(elements=[model])
print(str(sdf))
# 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)
# Create a model and a wrapping SDF element, and output
# Move the model up so it won't intersect with the ground when inserted.
model = Model("my_robot", elements=[link, wheel_link, joint])
model.set_position(Vector3(0, 0, math.sqrt(0.5)))
sdf = SDF(elements=[model])
print(str(sdf))
from sdfbuilder import Link, Model, SDF
from sdfbuilder.math import Vector3
# Create two similar boxes
link1 = Link("box1")
link1.make_box(1.0, 0.1, 0.3, 0.5)
link2 = Link("box2")
link2.make_box(1.0, 0.1, 0.3, 0.5)
# Align the top of box2 with the front of box1
link2.align(
Vector3(0, 0, 0.25),
Vector3(0, 0, -1),
Vector3(1, 0, 0),
Vector3(0, -0.15, 0),
Vector3(0, 1, 0),
Vector3(0, 0, 1),
link1
)
if __name__ == '__main__':
sdf = SDF()
model = Model("my_model")
model.add_element(link1)
model.add_element(link2)
sdf.add_element(model)
print(str(sdf))
# Minibox is... well, a mini box
minibox.make_box(0.1, 0.2, 0.2, 0.2)
minibox.align(
# Bottom left corner of minibox
Vector3(-0.1, -0.1, -0.1),
# Normal vector
Vector3(-0.1, -0.1, -0.1),
# Tangent vector
Vector3(-0.1, -0.1, 0.2),
# Top left of link
Vector3(-1, -1, 2),
# Normal vector
Vector3(0, 0, 1),
# Tangent vector
Vector3(1, 0, 0),
# Link to align with
link,
# All vectors relative to child frame
relative_to_child=True)
# Add link and minibox to a posable group so we can move
# them around together.
group = PosableGroup()
