def interpret_hierarchy(contours, hierarchy):
hierarchy = hierarchy[0]
rod_list = []
for i, c in enumerate(contours):
if cv2.contourArea(c) < 20: # Noise
continue
if hierarchy[i][3] == -1: # Image contour
continue
if hierarchy[i][3] == 0: # Rod contour
# Check the eccentricity of the contour to discard round figures
ellipse = cv2.fitEllipse(c)
(center,axes,orientation) = ellipse
majoraxis_length = max(axes)
minoraxis_length = min(axes)
eccentricity=(np.sqrt(1-(minoraxis_length/majoraxis_length)**2))
if (eccentricity < 0.7):
continue
rod = Rod(c, i)
rod_list.append(rod)
else: # Hole contour
hole = Hole(c)
index = hierarchy[i][3]
# Find the parent rod, None if there isn't (round object instead of a rod)
rod = next((x for x in rod_list if x.label == index), None)
try:
rod.append_hole(hole)
except: # If hole of round object
continue
# This will remove "rods" without holes
rod_list = [rod for rod in rod_list if (len(rod.holes) != 0)]
return rod_list
def build(n=4, config=DEFAULT_CONFIG):
# Parse config
length = config["Length"]
offset_len = config["Offset"]
unstr_len_v = config["UnstretchedLengthV"]
unstr_len_h1 = config["UnstretchedLengthH1"]
unstr_len_h2 = config["UnstretchedLengthH2"]
stiffness = config["Stiffness"]
viscosity = config["Viscosity"]
# Degree/radian of rotation for every rod
rot_deg = 360 / n
rot_rad = radians(rot_deg)
# Configure the first rod
rot = Rotation.from_euler("xyz", [0, -30, 0], degrees=True) * Rotation.from_euler("xyz", [0, 90, 0], degrees=True)
offset = (offset_len*cos(pi/n), offset_len*sin(pi/n))
rods = [Rod(mass=1, inertia=np.eye(3), length=length, state=RodState(r=np.array([offset[0], offset[1], 0]), q=rot))]
# Configure other rods with respect to the first rod
for i in range(1, n):
rot = Rotation.from_euler("xyz", [0, 0, rot_deg], degrees=True) * rot
offset = (offset_len*cos(i*rot_rad+pi/n), offset_len*sin(i*rot_rad+pi/n))
rods.append(Rod(mass=1, inertia=np.eye(3), length=length, state=RodState(r=np.array([offset[0], offset[1], 0]), q=rot)))
# Attach the cables
cabs = []
for i in range(n):
ind_to = (i + 1) % n
cabs.append(Cable(end_point1=rods[i].get_endpoint_a(), end_point2=rods[i-1].get_endpoint_a(), stiffness=stiffness, unstretched_length=unstr_len_h1, viscosity=viscosity))
cabs.append(Cable(end_point1=rods[i].get_endpoint_b(), end_point2=rods[ind_to].get_endpoint_b(), stiffness=stiffness, unstretched_length=unstr_len_h2, viscosity=viscosity))
cabs.append(Cable(end_point1=rods[i].get_endpoint_a(), end_point2=rods[ind_to].get_endpoint_b(), stiffness=stiffness, unstretched_length=unstr_len_v, viscosity=viscosity))
# Build the robot
robot = TensegrityRobot()
robot.add_rods(rods)
robot.add_cables(cabs)
return robot
rc.x = 0
rc.y = 0
a.interior.append((ch, rc))
# insert fuel pins into the assembly
Imin = -1
Imax = 1
for i in range(Imin, Np + Imax):
x = pp * i
for j in range(Imin, Np + Imax):
if (i, j) != (-10, -10):
y = pp * j
r = Relation()
r.x = x + uniform(-0.1 * rr, 0.1 * rr)
r.y = y + uniform(-0.1 * rr, 0.1 * rr)
p = Rod()
p.radius = 0.3 + 0.05 * i + 0.15 * j
p.color = 'red'
a.interior.append((p, r))
plt = a.plot(order='ioptc')
plt.get_figure().savefig('mini_bwr.pdf')
for (e, r, s, c) in a.visible_interior():
print e, r, c
ax = None
Nch = 0
for ch in a.own_subchannels():
ax = ShapelyToAxis(ch, axis=ax, order='b', label=(Nch, ch.area))
Nch += 1
OFFSET = LENGTH / 8.0
UNSTRETCHED_LENGTH_v = 0.2
UNSTRETCHED_LENGTH_h = 0.1
STIFFNESS = 10
VISCOSITY = 1
q0 = Rotation.from_euler("xyz", [0, 90, 0], degrees=True)
q1 = Rotation.from_euler("xyz", [0, -30, 0], degrees=True) * q0
q2 = Rotation.from_euler("xyz", [0, 0, 120], degrees=True) * q1
q3 = Rotation.from_euler("xyz", [0, 0, 120], degrees=True) * q2
rod1 = Rod(mass=1,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([
OFFSET * cos(0 * pi / 3 + pi / 3),
OFFSET * sin(0 * pi / 3 + pi / 3), 0
]),
q=q1))
rod2 = Rod(mass=1,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([
OFFSET * cos(2 * pi / 3 + pi / 3),
OFFSET * sin(2 * pi / 3 + pi / 3), 0
]),
q=q2))
rod3 = Rod(mass=1,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([
from scipy.spatial.transform import Rotation
np.set_printoptions(precision=5)
np.set_printoptions(suppress=True)
LENGTH = 0.2
OFFSET = LENGTH / 8.0
UNSTRETCHED_LENGTH = 0.05
STIFFNESS = 100
VISCOSITY = 0.1
MASS = 1
DELTA_L = UNSTRETCHED_LENGTH / 8
rod1 = Rod(mass=MASS,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([0, 0, -OFFSET]),
q=Rotation.from_euler("xyz", [0, 0, 0],
degrees=True)))
rod2 = Rod(mass=MASS,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([0, 0, OFFSET]),
q=Rotation.from_euler("xyz", [0, 0, 0],
degrees=True)))
rod3 = Rod(mass=MASS,
inertia=np.eye(3),
length=LENGTH * 3,
state=RodState(r=np.array([-OFFSET, 0, 0]),
q=Rotation.from_euler("xyz", [0, 0, 90],
degrees=True)))
UNSTRETCHED_LENGTH_h1 = 0.03
UNSTRETCHED_LENGTH_h2 = 0.15
STIFFNESS = 500
VISCOSITY = 5
q0 = Rotation.from_euler("xyz", [0, 90, 0], degrees=True)
q1 = Rotation.from_euler("xyz", [0, -30, 0], degrees=True) * q0
q2 = Rotation.from_euler("xyz", [0, 0, 90], degrees=True) * q1
q3 = Rotation.from_euler("xyz", [0, 0, 90], degrees=True) * q2
q4 = Rotation.from_euler("xyz", [0, 0, 90], degrees=True) * q3
rod1 = Rod(mass=1,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([
OFFSET * cos(0 * pi / 2 + pi / 4),
OFFSET * sin(0 * pi / 2 + pi / 4), 0
]),
q=q1))
rod2 = Rod(mass=1,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([
OFFSET * cos(1 * pi / 2 + pi / 4),
OFFSET * sin(1 * pi / 2 + pi / 4), 0
]),
q=q2))
rod3 = Rod(mass=1,
inertia=np.eye(3),
length=LENGTH,
state=RodState(r=np.array([
# assembly bundle
a = Bundle.box(ll=(0,0), ur=(pp*(Np-1), pp*(Np-1)), r=1.3*r)
a.wt =1.
a.color = 'blue'
# channel
ch = Bundle.box(ll=(0, 0), ur=(2*pp, 3*pp), r=0.8*r)
ch.color = 'green'
ch.wt = 0.2
rc = Relation()
rc.x = 5*pp
rc.y = 3*pp
a.interior.append((ch, rc))
# fuel pin master model
p = Rod()
p.radius = r
p.color = 'red'
# insert fuel pins into the assembly
chsh = a.shapely([0])
if points_on_walls:
Imin = 0
Imax = 0
else:
Imin = -1
Imax = 1
for i in range(Imin, Np+Imax):
x = pp * i
for j in range(Imin, Np+Imax):
y = pp * j
MASS = 1
INERTIA = np.diag([(1 / 12) * MASS * LENGTH**2, (1 / 12) * MASS * LENGTH**2,
(1 / 12) * MASS * LENGTH**2])
q0 = Rotation.from_euler("xyz", [0, 90, 0], degrees=True)
q1 = Rotation.from_euler("xyz", [0, 0, 0], degrees=True) * q0
q2 = Rotation.from_euler("xyz", [0, 0, 90], degrees=True) * q1
q3 = Rotation.from_euler("xyz", [0, 0, 90], degrees=True) * q2
q4 = Rotation.from_euler("xyz", [0, 0, 90], degrees=True) * q3
rod1 = Rod(mass=MASS,
inertia=INERTIA,
length=LENGTH,
state=RodState(r=np.array([
OFFSET * cos(0 * pi / 2 + pi / 4),
OFFSET * sin(0 * pi / 2 + pi / 4), 0
]),
q=q1),
viscosity_w=VISCOSITY_W)
rod2 = Rod(mass=1,
inertia=INERTIA,
length=LENGTH,
state=RodState(r=np.array([
OFFSET * cos(1 * pi / 2 + pi / 4),
OFFSET * sin(1 * pi / 2 + pi / 4), 0
]),
q=q2),
viscosity_w=VISCOSITY_W)
rod3 = Rod(mass=1,
inertia=INERTIA,