def MC2TXX(rim_radius,
wheel_radius,
width,
rot=[0, 0, 0],
pos=[0, 0, 0],
Fixed=False):
density_tire = density['Steel Forged Concrete']
[rim, wheel] = MiroAPI.add_TwoBodyTire(False,
rim_radius,
wheel_radius,
width,
pos,
density_tire,
texture='MITstol.jpg')
COMPONENT_Rim = mc.MiroComponent(rim)
COMPONENT_Wheel = mc.MiroComponent(wheel)
COMPONENT_Rim.AddLinkPoint('A', [0, 0, 1], [0, 0, width / 2])
COMPONENT_Rim.AddLinkPoint('B', [0, 0, -1], [0, 0, -width / 2])
COMPONENT_Wheel.AddLinkPoint('A', [0, 0, 1], [0, 0, width / 2])
COMPONENT_Wheel.AddLinkPoint('B', [0, 0, -1], [0, 0, -width / 2])
COMPONENT_Rim.Rotate(rot)
COMPONENT_Wheel.Rotate(rot)
return [COMPONENT_Rim, COMPONENT_Wheel]
def MC907(rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = 0.8
size_y = 0.1
size_z = 0.9
density_brick = density['Steel Forged Concrete'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='white_bricks.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [0, 1, 0],
[3 * size_x / 8, size_y / 2, 3 * size_z / 8])
COMPONENT.AddLinkPoint('B', [0, 1, 0],
[-3 * size_x / 8, size_y / 2, 3 * size_z / 8])
COMPONENT.AddLinkPoint('C', [0, 1, 0],
[3 * size_x / 8, size_y / 2, -3 * size_z / 8])
COMPONENT.AddLinkPoint('D', [0, 1, 0],
[-3 * size_x / 8, size_y / 2, -3 * size_z / 8])
COMPONENT.AddLinkPoint('E', [0, 1, 0], [0, size_y / 2, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def MC5XX(M1, M2, M3, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
'''Ellipsoid component, ABS plastic.\n
M1 = radius in x\n
M2 = radius in y\n
M3 = radius in z\n
Linkpoints: A: +x, B: -x, C: +y, D: -y, E: +z, F: -z.'''
size_rx = M1
size_ry = M2
size_rz = M3
density_brick = density['ABS'] # kg/m^3
body_ball = MiroAPI.add_ellipsoidShape(False,
size_rx,
size_ry,
size_rz,
pos,
texture='test_texture.png',
scale=[0.07, 0.07],
Collide=False,
density=density_brick)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_ball)
COMPONENT.AddLinkPoint('A', [1, 0, 0], [size_rx, 0, 0])
COMPONENT.AddLinkPoint('B', [-1, 0, 0], [-size_rx, 0, 0])
COMPONENT.AddLinkPoint('C', [0, 1, 0], [0, size_ry, 0])
COMPONENT.AddLinkPoint('D', [0, -1, 0], [0, size_ry, 0])
COMPONENT.AddLinkPoint('E', [0, 0, 1], [0, 0, size_rz])
COMPONENT.AddLinkPoint('F', [0, 0, -1], [0, 0, -size_rz])
COMPONENT.Rotate(rot)
return COMPONENT
def MC906(rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = 0.8
size_y = 0.8
size_z = 0.6
density_brick = density['Steel Forged Concrete'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='white_bricks.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [0, 0, 1], [0, 0.9 * size_y / 2, size_z / 2])
COMPONENT.AddLinkPoint('B', [0, 0, -1], [0, 0.9 * size_y / 2, -size_z / 2])
# Bottom mounting sockets
COMPONENT.AddLinkPoint('C', [0, -1, 0], [0, -size_y / 2, size_z / 4])
COMPONENT.AddLinkPoint('D', [0, -1, 0], [0, -size_y / 2, -size_z / 4])
# Top mounting sockets
COMPONENT.AddLinkPoint('E', [0, 1, 0], [0, size_y / 2, size_z / 4])
COMPONENT.AddLinkPoint('F', [0, 1, 0], [0, size_y / 2, -size_z / 4])
COMPONENT.Rotate(rot)
return COMPONENT
def MC3XX(M1, M2, M3, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = M1
size_y = M3
size_z = M2
density_brick = density['PVC'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='pvc_weave_brown.png',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [-1, 0, 0], [-size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('B', [1, 0, 0], [size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('C', [0, 0, -1], [0, 0, -size_z / 2])
COMPONENT.AddLinkPoint('D', [0, 0, 1], [0, 0, size_z / 2])
COMPONENT.AddLinkPoint('E', [0, -1, 0], [0, -size_y / 2, 0])
COMPONENT.AddLinkPoint('F', [0, 1, 0], [0, size_y / 2, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def MC2XX(M1, M2, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_h = M1
size_r = M2
density_brick = density['ABS'] # kg/m^3
body_brick = MiroAPI.add_cylinderShape(False,
size_r,
size_h,
density_brick,
pos,
Fixed=False,
texture='MITstol.jpg')
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [0, 1, 0], [0, size_h / 2, 0])
COMPONENT.AddLinkPoint('B', [0, -1, 0], [0, -size_h / 2, 0])
COMPONENT.AddLinkPoint('C', [1, 0, 0], [size_r, 0, 0])
COMPONENT.AddLinkPoint('D', [-1, 0, 0], [-size_r, 0, 0])
COMPONENT.AddLinkPoint('E', [0, 0, 1], [0, 0, size_r])
COMPONENT.AddLinkPoint('F', [0, 0, -1], [0, 0, -size_r])
COMPONENT.Rotate(rot)
return COMPONENT
def MC1XX(M1, M2, M3, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = M1
size_y = M2
size_z = M2
density_brick = density['Aluminium'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='brushsteel.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [-1, 0, 0], [-size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('B', [1, 0, 0], [size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('C', [0, 0, -1], [0, 0, -size_z / 2])
COMPONENT.AddLinkPoint('D', [0, 0, 1], [0, 0, size_z / 2])
COMPONENT.AddLinkPoint('E', [0, -1, 0],
[-(size_x / 2 - M3), -size_y / 2, 0])
COMPONENT.AddLinkPoint('F', [0, -1, 0],
[(size_x / 2 - M3), -size_y / 2, 0])
COMPONENT.AddLinkPoint('G', [0, 1, 0], [-(size_x / 2 - M3), size_y / 2, 0])
COMPONENT.AddLinkPoint('H', [0, 1, 0], [(size_x / 2 - M3), size_y / 2, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def robotcourse(MiroSystem, target):
course_comp = MC.MiroComponent()
# Import .obj file from object_files directory and set color [R, G, B]
course_comp.ImportObj('Bana_robottavlingen.obj', color = [0.7, 0.7, 0.7])
course_comp.MoveToPosition([target[0], target[1], target[2]])
MiroSystem.Add(course_comp.GetBody())
def DUMMY(rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False, radius=0.025):
body_ball = MiroAPI.add_sphereShape(False,
radius,
pos,
texture='test_texture.png',
scale=[0.07, 0.07],
Collide=False)
# Generate MiroComponent with above body
COMPONENT = mc.MiroComponent(body_ball)
COMPONENT.AddLinkPoint('A', [0, 0, 0], [0, 0, 0])
COMPONENT.Rotate(rot)
COMPONENT.MoveToPosition(pos)
return COMPONENT
def MC0XX(M1, M2, M3, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_x = M1
size_y = M3
size_z = M2
density_brick = density['ABS'] # kg/m^3
body_brick = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z,
pos,
texture='MITstol.jpg',
density=density_brick,
Fixed=Fixed)
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
# Top
COMPONENT.AddLinkPoint('A', [0, 1, 0], [(size_x / 2 - 0.02), size_y / 2,
(size_z / 2 - 0.02)])
COMPONENT.AddLinkPoint(
'B', [0, 1, 0],
[-(size_x / 2 - 0.02), size_y / 2, (size_z / 2 - 0.02)])
COMPONENT.AddLinkPoint(
'C', [0, 1, 0],
[(size_x / 2 - 0.02), size_y / 2, -(size_z / 2 - 0.02)])
COMPONENT.AddLinkPoint(
'D', [0, 1, 0],
[-(size_x / 2 - 0.02), size_y / 2, -(size_z / 2 - 0.02)])
# Bottom
COMPONENT.AddLinkPoint('E', [0, -1, 0], [0, -size_y / 2, 0])
# Sides
COMPONENT.AddLinkPoint('F', [0, 0, -1],
[-(size_x / 2 - 0.02), 0, -size_z / 2])
COMPONENT.AddLinkPoint('G', [0, 0, -1],
[(size_x / 2 - 0.02), 0, -size_z / 2])
COMPONENT.AddLinkPoint('H', [0, 0, 1],
[-(size_x / 2 - 0.02), 0, size_z / 2])
COMPONENT.AddLinkPoint('I', [0, 0, 1],
[(size_x / 2 - 0.02), 0, size_z / 2])
COMPONENT.AddLinkPoint('J', [-1, 0, 0], [-size_x / 2, 0, 0])
COMPONENT.AddLinkPoint('K', [1, 0, 0], [size_x / 2, 0, 0])
COMPONENT.Rotate(rot)
return COMPONENT
def MCTXX(radius_tire, width, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
density_tire = density['Rubber']
tire = MiroAPI.add_OneBodyTire(False,
radius_tire,
width,
pos,
density_tire,
texture='MITstol.jpg')
COMPONENT = mc.MiroComponent(tire)
COMPONENT.AddLinkPoint('A', [0, 0, 1], [0, 0, width / 2])
COMPONENT.AddLinkPoint('B', [0, 0, -1], [0, 0, -width / 2])
COMPONENT.Rotate(rot)
return COMPONENT