r_hip_shape = Sphere(color='black', radius = 0.1)
r_ankle_shape = Sphere(color='black', radius = 0.1)
l_ankle_viz_frame = VisualizationFrame(inertial_frame, l_ankle, l_ankle_shape)
l_hip_viz_frame = VisualizationFrame(inertial_frame, l_hip, l_hip_shape)
r_hip_viz_frame = VisualizationFrame(inertial_frame, r_hip, r_hip_shape)
r_ankle_viz_frame = VisualizationFrame(inertial_frame, r_leg_mass_center, r_ankle_shape)
constants_dict = dict(zip(constants, numerical_constants))
l_leg_shape = Cylinder(radius = 0.08, length = constants_dict[l_leg_length], color = 'blue')
l_leg_viz_frame = VisualizationFrame('Left Leg', l_leg_frame, l_leg_mass_center, l_leg_shape)
body_shape = Cylinder(radius = 0.08, length = constants_dict[hip_width], color = 'blue')
body_viz_frame = VisualizationFrame('Body', body_frame, body_mass_center, body_shape)
r_leg_shape = Cylinder(radius = 0.08, length = constants_dict[l_leg_length], color = 'red')
r_leg_viz_frame = VisualizationFrame('Right Leg', r_leg_frame, r_leg_mass_center, r_leg_shape)
scene = Scene(inertial_frame, l_ankle)
scene.visualization_frames = [l_ankle_viz_frame,l_hip_viz_frame, r_hip_viz_frame, r_ankle_viz_frame, l_leg_viz_frame, body_viz_frame, r_leg_viz_frame]
scene.generate_visualization_json(coordinates + speeds, constants, y, numerical_constants)
scene.display()
for i, (link, particle) in enumerate(zip(links, particles)):
link_shape = Cylinder(name='cylinder{}'.format(i),
radius=link_radius,
length=link_length,
color='red')
viz_frames.append(VisualizationFrame('link_frame{}'.format(i), link,
link_shape))
particle_shape = Sphere(name='sphere{}'.format(i),
radius=particle_radius,
color='blue')
viz_frames.append(VisualizationFrame('particle_frame{}'.format(i),
link.frame,
particle,
particle_shape))
# Now the visualization frames can be passed in to create a scene.
scene = Scene(I, O, *viz_frames)
# And the motion of the shapes is generated by providing the scene with the
# state trajectories.
print('Generating transform time histories.')
scene.generate_visualization_json(kane._q + kane._u, param_syms,
state_trajectories, param_vals)
print('Done.')
scene.display()
viz_frames = []
for i, (link, particle) in enumerate(zip(links, particles)):
link_shape = Cylinder(name='cylinder{}'.format(i),
radius=link_radius,
length=link_length,
color='red')
viz_frames.append(
VisualizationFrame('link_frame{}'.format(i), link, link_shape))
particle_shape = Sphere(name='sphere{}'.format(i),
radius=particle_radius,
color='blue')
viz_frames.append(
VisualizationFrame('particle_frame{}'.format(i), link.frame, particle,
particle_shape))
# Now the visualization frames can be passed in to create a scene.
scene = Scene(I, O, *viz_frames)
# And the motion of the shapes is generated by providing the scene with the
# state trajectories.
print('Generating transform time histories.')
scene.generate_visualization_json(kane._q + kane._u, param_syms,
state_trajectories, param_vals)
print('Done.')
scene.display()
linkP_origin = O.locatenew('originP', 0.5 * l * A.x)
linkP_viz_frame = VisualizationFrame('linkP', linkP_frame, linkP_origin, link)
linkR_frame = B.orientnew('frameR', 'Axis', [0.5 * pi, N.z])
linkR_origin = P.locatenew('originP', 0.5 * l * B.x)
linkR_viz_frame = VisualizationFrame('linkR', linkR_frame, linkR_origin, link)
sphereP_viz_frame = VisualizationFrame('sphereP', N, P, sphere)
sphereR_viz_frame = VisualizationFrame('sphereR', N, R, sphere)
# Construct the scene
# ===================
# We want gravity to be directed downwards in the visualization. Gravity is in
# the -x direction. By default, the visualization uses the xz plane as the
# ground plane. Thus, gravity is contained in the ground plane. However, we
# want gravity to point in the -y direction in the visualization. To achieve
# this, we create a world frame that is rotated +90 degrees about the N frame's
# z direction.
world_frame = N.orientnew('world', 'Axis', [0.5 * pi, N.z])
scene = Scene(world_frame, O, linkP_viz_frame, linkR_viz_frame,
sphereP_viz_frame, sphereR_viz_frame)
# Create the visualization
# ========================
scene.generate_visualization_json(coordinates + speeds, constants.keys(), x,
constants.values())
scene.display()
lower_leg_center.set_pos(ankle, lower_leg_length / 2 * lower_leg_frame.y)
upper_leg_center.set_pos(knee, upper_leg_length / 2 * upper_leg_frame.y)
torso_center.set_pos(hip, torso_com_length * torso_frame.y)
lower_leg_shape = Cylinder(radius=0.08,
length=constants_dict[lower_leg_length],
color='blue')
lower_leg_viz_frame = VisualizationFrame('Lower Leg', lower_leg_frame,
lower_leg_center, lower_leg_shape)
upper_leg_shape = Cylinder(radius=0.08,
length=constants_dict[upper_leg_length],
color='green')
upper_leg_viz_frame = VisualizationFrame('Upper Leg', upper_leg_frame,
upper_leg_center, upper_leg_shape)
torso_shape = Cylinder(radius=0.08,
length=2 * constants_dict[torso_com_length],
color='red')
torso_viz_frame = VisualizationFrame('Torso', torso_frame, torso_center,
torso_shape)
scene = Scene(inertial_frame, ankle, ankle_viz_frame, knee_viz_frame,
hip_viz_frame, head_viz_frame, lower_leg_viz_frame,
upper_leg_viz_frame, torso_viz_frame)
scene.generate_visualization_json(coordinates + speeds, constants, y,
numerical_constants)
