def scene_texcylinder2():
def test(face, u, v):
if face == 0:
return (0.1, 1.0, 0.1), 0.3, 0.2, 6
u = u - 0.5
v = v - 0.5
b = u / (math.sqrt(u * u + v * v))
if 0.0 < v:
c = math.degrees(math.asin(b))
else:
c = 360 - math.degrees(math.asin(b))
c = c + 180.8
c = c / 30.0
c = math.floor(c)
c = evaluator.modi(c, 2)
if c == 1:
return (1.0, 0.1, 0.1), 0.3, 0.2, 6
else:
return (0.1, 0.1, 1.0), 0.3, 0.2, 6
l = [Light((1.0, -1.0, 1.0), (1.0, 1.0, 1.0))]
c = Cylinder(test)
c.translate(0.0, -0.5, 0.0)
c.rotatex(60.0)
c.rotatey(20.0)
c.rotatez(40.0)
return c, l
def scene_cylinder():
def green(face, u, v):
return (0.1, 1.0, 0.1), 0.3, 0.2, 6
l = [Light((1.0, -1.0, 1.0), (1.0, 1.0, 1.0))]
c = Cylinder(green)
c.translate(0.0, -0.5, 0.0)
c.rotatex(60.0)
c.rotatey(20.0)
c.rotatez(40.0)
return c, l
def create_primitive_from_dict(d):
assert d['type'] == 'cylinder'
location = np.array(
[d['location_x'], d['location_y'], d['location_z']], dtype=float)
axis = np.array([d['axis_x'], d['axis_y'], d['axis_z']], dtype=float)
radius = float(d['radius'])
return Cylinder(center=location, radius=radius, axis=axis)
def __init__(self):
super(Circular, self).__init__()
self.cyl = Cylinder(np.array([0.0, 0.0, 0.0]),
np.array([0.0, 0.0, 1.0]), 1.0)
self.addObject(self.cyl)
def __init__(self, link_radii=arm_radius, joint_radii=arm_radius, link_lengths=[15,15,5,5], joint_colors=arm_color,
link_colors=arm_color, base_loc=np.array([2., 0., -15]), **kwargs):
'''
Instantiate the graphics and the virtual arm for a kinematic chain
'''
num_joints = 2
self.num_joints = 2
self.link_radii = make_list(link_radii, num_joints)
self.joint_radii = make_list(joint_radii, num_joints)
self.link_lengths = make_list(link_lengths, num_joints)
self.joint_colors = make_list(joint_colors, num_joints)
self.link_colors = make_list(link_colors, num_joints)
self.curr_vecs = np.zeros([num_joints, 3]) #rows go from proximal to distal links
# set initial vecs to correct orientations (arm starts out vertical)
self.curr_vecs[0,2] = self.link_lengths[0]
self.curr_vecs[1:,0] = self.link_lengths[1:]
# Create links
self.links = []
for i in range(self.num_joints):
joint = Sphere(radius=self.joint_radii[i], color=self.joint_colors[i])
# The most distal link gets a tapered cylinder (for purely stylistic reasons)
if i < self.num_joints - 1:
link = Cylinder(radius=self.link_radii[i], height=self.link_lengths[i], color=self.link_colors[i])
else:
link = Cone(radius1=self.link_radii[-1], radius2=self.link_radii[-1]/2, height=self.link_lengths[-1], color=self.link_colors[-1])
link_i = Group((link, joint))
self.links.append(link_i)
link_offsets = [0] + self.link_lengths[:-1]
self.link_groups = [None]*self.num_joints
for i in range(self.num_joints)[::-1]:
if i == self.num_joints-1:
self.link_groups[i] = self.links[i]
else:
self.link_groups[i] = Group([self.links[i], self.link_groups[i+1]])
self.link_groups[i].translate(0, 0, link_offsets[i])
# Call the parent constructor
super(RobotArmGen3D, self).__init__([self.link_groups[0]], **kwargs)
# Instantiate the kinematic chain object
if self.num_joints == 2:
self.kin_chain = robot_arms.PlanarXZKinematicChain(link_lengths)
self.kin_chain.joint_limits = [(-pi,pi), (-pi,0)]
else:
self.kin_chain = robot_arms.PlanarXZKinematicChain(link_lengths)
# TODO the code below is (obviously) specific to a 4-joint chain
self.kin_chain.joint_limits = [(-pi,pi), (-pi,0), (-pi/2,pi/2), (-pi/2, 10*pi/180)]
self.base_loc = base_loc
self.translate(*self.base_loc, reset=True)
def scene_difference():
def blue(face, u, v):
return (0.1, 0.1, 1.0), 0.3, 0.2, 6
def red(face, u, v):
return (1.0, 0.1, 0.1), 0.3, 0.2, 6
l = [Light((1.0, -1.0, 1.0), (1.0, 1.0, 1.0))]
c1 = Cylinder(blue)
c1.translate(0.0, -0.5, 0.0)
c2 = Cylinder(red)
c2.translate(0.0, -0.5, 0.0)
c2.scale(0.8, 1.2, 0.8)
d = Difference(c1, c2)
d.rotatex(60.0)
d.rotatey(20.0)
d.rotatez(40.0)
return d, l
def scene_texcylinder():
def pattern(face, u, v):
up = int(u * 24) % 2
vp = int(v * 12) % 2
r, g, b = 0.0, 0.1, 0.0
if up == 0:
r = u
if vp == 0:
b = v
return (r, g, b), 0.3, 0.2, 6
l = [Light((1.0, -1.0, 1.0), (1.0, 1.0, 1.0))]
c = Cylinder(pattern)
c.translate(0.0, -0.5, 0.0)
c.rotatex(60.0)
c.rotatey(20.0)
c.rotatez(40.0)
return c, l
def __init__(self, link_radii=(.2, .2), ball_radii=(.5,.5),lengths=(20, 20), ball_colors = ((1,1,1,1),(1,1,1,1)),\
link_colors = ((1,1,1,1), (1,1,1,1)), base_loc=np.array([2., 0., -10.]), **kwargs):
self.link_radii = link_radii
self.ball_radii = ball_radii
self.lengths = lengths
self.endpt_cursor = Sphere(radius=ball_radii[1], color=(1, 0, 1, 1)) #ball_colors[1])
self.forearm = Group([
Cylinder(radius=link_radii[1], height=lengths[1], color=link_colors[1]),
self.endpt_cursor.translate(0, 0, lengths[1])]).translate(0,0,lengths[0])
self.upperarm = Group([
Cylinder(radius=link_radii[0], height=lengths[0],color=link_colors[0]),
Sphere(radius=ball_radii[0],color=ball_colors[0]).translate(0, 0, lengths[0]),
self.forearm])
self.system = TwoJoint(self.upperarm, self.forearm, lengths = (self.lengths))
super(RobotArm, self).__init__([self.upperarm], **kwargs)
self.num_links = len(link_radii)
self.num_joints = 3 # abstract joints. this system is fully characterized by the endpoint position since the elbow angle is determined by IK
self.base_loc = base_loc
self.translate(*self.base_loc, reset=True)
def extract_predicted_parameters_as_json(fetched, k):
cylinder = Cylinder(fetched['cylinder_center'][k],
np.sqrt(fetched['cylinder_radius_squared'][k]),
fetched['cylinder_axis'][k],
height=5)
return {
'type': 'cylinder',
'center_x': cylinder.center[0],
'center_y': cylinder.center[1],
'center_z': cylinder.center[2],
'radius': cylinder.radius,
'axis_x': cylinder.axis[0],
'axis_y': cylinder.axis[1],
'axis_z': cylinder.axis[2],
'height': cylinder.height,
}
def scene_viewhole():
def blue(face, u, v):
return (0.1, 0.1, 1.0), 0.3, 0.2, 6
def red(face, u, v):
return (1.0, 0.1, 0.1), 0.3, 0.2, 6
def green(face, u, v):
return (0.1, 1.0, 0.1), 0.3, 0.2, 6
def yellow(face, u, v):
return (0.1, 1.0, 1.0), 0.3, 0.2, 6
def cyan(face, u, v):
return (1.0, 1.0, 0.1), 0.3, 0.2, 6
def magenta(face, u, v):
return (1.0, 0.1, 1.0), 0.3, 0.2, 6
def white(face, u, v):
return (1.0, 1.0, 1.0), 0.3, 0.2, 6
def apex(rot):
p1 = Plane(white)
p1.rotatex(90)
p2 = Plane(red)
p2.rotatex(-90)
p2.rotatey(30)
i = Intersect(p1, p2)
i.rotatey(rot)
return i
l = [Light((1.0, -1.0, 1.0), (1.0, 1.0, 1.0))]
cyl3 = Cylinder(red)
cyl3.scale(0.9999, 0.9999, 0.999)
cyl3.translate(0.0, 3.0, 0.0)
cyl4 = Cylinder(blue)
cyl4.scale(0.7, 4.0, 0.7)
a1 = apex(15)
a2 = apex(75)
a3 = apex(135)
a4 = apex(195)
a5 = apex(255)
a6 = apex(315)
u3 = Union(Union(Union(Union(Union(a1, a2), a3), a4), a5), a6)
cyl5 = Cylinder(magenta)
i2 = Intersect(u3, cyl5)
u4 = Union(cyl4, i2)
u4.translate(0.0, 3.5, 0.0)
d = Difference(cyl3, u4)
d.translate(0.0, -4.0, 2.0)
d.uscale(4.0)
d.rotatex(-50)
return d, l
d1 = Difference(u2, u4)
#d1.uscale(0.4)
d1.translate(0.0, -3.0, 2.0)
d1.rotatex(-50)
return d1, l