# sys import sys sys.path.append('..') # matplotlib import matplotlib.pyplot as plt # robot from robot import Robot, human_maker if __name__ == '__main__': root = human_maker.makeProportionalHuman(1.75) r = Robot() r.setRoot(root) l = r.getLines() plt.plot(*l) plt.show()
# femur b2 = Body('right femur', 0, 1, -3 * math.pi / 4., b1) # tibia b3 = Body('right tibia', 0, 0.7, -math.pi / 4., b2) # left leg # femur b4 = Body('left femur', 0, 1, 3 * math.pi / 4., b1) # tibia b5 = Body('left tibia', 0, 0.7, math.pi / 4., b4) # torso b6 = Body('torso', 0, 2, 0.1, b1) r = Robot() r.setRoot(b1) line1 = Line(2+0.0, -1.5, 2+1.5, -1) line2 = Line(2+-1.0, -1.5, 2+-0.1, -1) c1 = ContactConstraint(b3, line1, 0.5) c2 = ContactConstraint(b5, line2, 0.5) ik = InverseKinematics(r) ik.addConstraint(c1) ik.addConstraint(c2) ik.solve() l = r.getLines() + line1.getLines() + line2.getLines() plt.plot(*l) plt.show()