def loadSettings(self):
self.settings = self.getSettings(self._appName)
if self.settings['workPosition'] != "":
workPositionPts = list(
map(int, self.settings['workPosition'].split(',')))
self.workPosition = Rectangle.Rectangle(
Point.Point(workPositionPts[0], workPositionPts[1]),
Point.Point(workPositionPts[2], workPositionPts[3]))
self.workPositionThreshold = self.settings['workPositionThreshold']
def __init__(self, radius: float, point: Point):
super(Circle, self)
self.radius = radius
self.point = point
if radius is None or point is None:
raise Exception(Messages.C_MS02)
x = radius
error = 1 - x
y = 0
while y <= x:
self.points.append(Point(x=x + point.x, y=y + point.y))
self.points.append(Point(x=y + point.x, y=x + point.y))
self.points.append(Point(x=-x + point.x, y=y + point.y))
self.points.append(Point(x=-y + point.x, y=x + point.y))
self.points.append(Point(x=-x + point.x, y=-y + point.y))
self.points.append(Point(x=-y + point.x, y=-x + point.y))
self.points.append(Point(x=x + point.x, y=-y + point.y))
self.points.append(Point(x=y + point.x, y=-x + point.y))
y = y + 1
if error < 0:
error += 2 * y + 1
else:
x = x - 1
error += 2 * (y - x + 1)
def __to_point(self, lua_table):
if not lua_table:
return None
# assumption that this is a lua table type
p = dict(zip('xyz', lua_table.values()))
return Point(**p)
def createGameRectangle(self, minSize, xRange, yRange):
widthPt = random.randint(xRange[0], xRange[1])
heightPt = random.randint(yRange[0], yRange[1])
if widthPt + minSize > xRange[1]:
xRight = widthPt
xLeft = widthPt - minSize
else:
xLeft = widthPt
xRight = widthPt + minSize
if heightPt + minSize > yRange[1]:
yBottom = heightPt
yTop = heightPt - minSize
else:
yTop = heightPt
yBottom = heightPt + minSize
rect = Rectangle.Rectangle(Point.Point(xLeft, yTop),
Point.Point(xRight, yBottom))
return rect
def test_find_most_suitable_station() -> None:
stations = [
Station(Point(0, 0), 10),
Station(Point(20, 20), 5),
Station(Point(10, 0), 12)
]
assert find_most_suitable_station(stations, Device(Point(0, 0))) == \
StationPower(Station(Point(0, 0), 10), 100.0)
assert find_most_suitable_station(stations, Device(Point(100,
100))) is None
station, power = find_most_suitable_station(stations, Device(Point(15,
10)))
assert station.point == Point(x=10, y=0)
assert station.reach == 12
assert round(power, 2) == 0.67
station, power = find_most_suitable_station(stations, Device(Point(18,
18)))
assert station.point == Point(x=20, y=20)
assert station.reach == 5
assert round(power, 2) == 4.72
def main():
apoint = Point(x=100, y=80)
bpoint = Point(x=160, y=200)
cpoint = Point(x=220, y=80)
circle = Circle(radius=10, point=apoint)
triangle = Triangle(lines=[StraightLine(a=apoint, b=bpoint), StraightLine(a=apoint, b=cpoint),
StraightLine(a=bpoint, b=cpoint)])
canvas1 = Canvas(250, 250, Point(x=200, y=200), "canvas1", [triangle, circle], show_cp=True)
canvas2 = Canvas(260, 260, Point(x=450, y=450), "canvas2", [circle], show_cp=True)
canvas3 = Canvas(270, 270, Point(x=710, y=710), "canvas3", [circle], show_cp=True)
canvas_list = [canvas1, canvas2, canvas3]
screen = TkinterScreen()
screen.configure(canvas_list)
board = Board(screen)
board.draw_at()
def stations_from_json(stations: str) -> List[Station]:
return [Station(Point(station[0], station[1]), station[2])
for station in json.loads(stations)]
def device_from_json(point: str) -> Device:
return Device(Point(*json.loads(point)))
vertices = mesh.vertices
triangles = mesh.triangles
normals = mesh.normals
print 'Num vertices:', len(vertices)
print 'Num triangles:', len(triangles)
print 'Num normals:', len(normals)
# 1. Generate candidate pairs of contact points
# 2. Check for force closure
# 3. Convert each grasp to a hand pose
contact1 = vertices[500]
contact2 = vertices[2000]
T_obj_gripper = contacts_to_baxter_hand_pose(contact1, contact2)
print 'Translation', T_obj_gripper.translation
print 'Rotation', T_obj_gripper.quaternion
pose_msg = T_obj_gripper.pose_msg
# 3d visualization to help debug
vis.figure()
vis.mesh(mesh)
vis.points(Point(contact1, frame='test'))
vis.points(Point(contact2, frame='test'))
vis.pose(T_obj_gripper, alpha=0.05)
vis.show()
# 4. Execute on the actual robot
def test_point_from_json():
assert device_from_json('[0, 0]') == Device(Point(0, 0))
def test_stations_from_json():
assert stations_from_json("[[0, 0, 10]]") == [Station(Point(0, 0), 10)]
#!/usr/bin/env python
import sys; sys.path.append("..")
from core import Point, Sequence
from core import OFFSET_64, MIDI_PITCH, DURATION_64
## points
p1 = Point({
OFFSET_64: 16,
MIDI_PITCH: 50,
DURATION_64: 16,
})
assert p1.tuple(OFFSET_64, DURATION_64) == (16, 16)
## sequences
p2 = Point({
OFFSET_64: 32,
MIDI_PITCH: 52,
DURATION_64: 16,
})
s1 = Sequence([p1, p2])
assert s1 == [
{DURATION_64: 16, OFFSET_64: 16, MIDI_PITCH: 50},
def test_enrich_stations_with_power() -> None:
stations = [Station(Point(0, 0), 10)]
device = Device(Point(0, 0))
assert list(enrich_stations_with_power(
stations, device)) == [StationPower(Station(Point(0, 0), 10), 100.0)]
def test_distance_to_station() -> None:
assert distance_to_station(Point(0, 0), Point(0, 0)) == 0
assert distance_to_station(Point(0, 0), Point(10, 0)) == 10.0
assert distance_to_station(Point(10, 0), Point(0, 0)) == 10.0