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
def MCB01(trigger_function,
pulses=1,
rot=[0, 0, 0],
pos=[0, 0, 0],
Fixed=False):
'''A booster that emits a 0.5N, 0.4s pulse when the trigger function returns True.\n
Can emit up to 5 consecutive pulses based on input argument.\n
The trigger function must follow the form:\n
def trigger_function(position, velocity, acceleration)'''
if pulses > 5:
pulses = 5
if pulses < 0:
pulses = 0
pulses = np.round(pulses)
size_h = 0.05
size_r = 0.0075
density_brick = 0.02 / (np.pi * size_r**2 * size_h) # kg/m^3
booster_body = MiroAPI.add_cylinderShape(False,
size_r,
size_h,
density_brick,
pos,
'booster.png',
scale=[1, -1],
Fixed=False)
# Generate MiroComponent with above ChBody
BOOSTER = mc.MiroBooster(booster_body)
BOOSTER.SetTrigger(trigger_function)
BOOSTER.SetFuel(400 * pulses)
BOOSTER.SetForce(0.5)
BOOSTER.AddLinkPoint('A', [1, 0, 0], [size_r, size_h / 2 - 0.01, 0])
BOOSTER.AddLinkPoint('B', [1, 0, 0], [size_r, -size_h / 2 + 0.01, 0])
BOOSTER.AddLinkPoint('C', [0, 0, 1], [0, size_h / 2 - 0.01, size_r])
BOOSTER.AddLinkPoint('D', [0, 0, 1], [0, -size_h / 2 + 0.01, size_r])
BOOSTER.Rotate(rot)
BOOSTER.MoveToPosition(pos)
return BOOSTER
def MSL03(rot=[0, 0, 0]):
size_x = 0.02
size_y = 0.02
size_z = 0.02
sensor_body = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z, [0, 0, 0],
texture='MSA01.png',
Fixed=False)
# Generate MiroComponent based MiroSensor with above ChBody
SENSOR = mc.MiroSensor_Lidar(sensor_body, 50, 90, 2)
# Top
SENSOR.AddLinkPoint('Linkpoint', [0, 1, 0], [0, size_y / 2, 0])
SENSOR.Rotate(rot)
return SENSOR
def MSO01(rot=[0, 0, 0]):
size_x = 0.04
size_y = 0.012
size_z = 0.024
# density_brick = 1000 # kg/m^3
mass_brick = 0.040
sensor_body = MiroAPI.add_boxShape(False,
size_x,
size_y,
size_z, [0, 0, 0],
texture='MSO01.png',
Fixed=False,
mass=mass_brick)
# Generate MiroComponent based MiroSensor with above ChBody
SENSOR = mc.MiroSensor_Odometer(sensor_body)
# Top
SENSOR.AddLinkPoint('Linkpoint', [0, 1, 0], [0, size_y / 2, 0])
SENSOR.Rotate(rot)
return SENSOR
