예제 #1
0
 def _add_casters(self):
     from parts import Capsule, Cylinder, Joint, Limits
     hips = self.hips
     wheel = self.wheel_left
     support = Cylinder((0.9 * self.hips.radius, 0.02, wheel.radii[0]),
                        name='support')
     support.add_joint(
         Joint((0, 0, 0),
               rot=(0, 1, 0, 0),
               limits=Limits.zero(),
               name='hips'))
     hips.add_joint(
         Joint(hips.end_pos(-1),
               rot=(0, 1, 0, 0),
               limits=Limits.zero(),
               name='support'))
     hips.attach(support)
     # Automate caster position to same bottom level as wheels.
     offset_y = wheel.pos[1] - support.pos[1]
     for side_z in (-1, 1):
         caster = Capsule(0.49 * offset_y,
                          0,
                          material=wheel.material,
                          name='caster_' + side_z_name(side_z))
         support.add_joint(
             Joint((0, 0, side_z * support.radii[2]), name=caster.name))
         caster.add_joint(Joint((0, 0, 0), name=support.name))
         support.attach(caster)
예제 #2
0
 def _add_casters(self):
     from parts import Capsule, Cylinder, Joint, Limits
     hips = self.hips
     wheel = self.wheel_left
     support = Cylinder(
         (0.9*self.hips.radius,0.02,wheel.radii[0]),
         name='support')
     support.add_joint(Joint(
         (0,0,0),
         rot=(0,1,0,0),
         limits=Limits.zero(),
         name='hips'))
     hips.add_joint(Joint(
         hips.end_pos(-1),
         rot=(0,1,0,0),
         limits=Limits.zero(),
         name='support'))
     hips.attach(support)
     # Automate caster position to same bottom level as wheels.
     offset_y = wheel.pos[1] - support.pos[1]
     for side_z in (-1,1):
         caster = Capsule(
             0.49*offset_y, 0,
             material=wheel.material,
             name='caster_'+side_z_name(side_z))
         support.add_joint(Joint(
             (0,0,side_z*support.radii[2]),
             name=caster.name))
         caster.add_joint(Joint((0,0,0), name=support.name))
         support.attach(caster)
예제 #3
0
 def __init__(self, side_x):
     from parts import A, Capsule, Joint, Limits, pi
     self.name = 'hand'
     self.wrist = wrist = Capsule(0.03, 0, name='wrist')
     wrist.add_joint(
         Joint(wrist.end_pos(0.3), rot=(0, 1, 0, 0), name='lower'))
     # Fingers
     for f in xrange(3):
         wrist.add_joint(
             Joint(wrist.end_pos(axis=(-side_x, -2, 2 * (f - 1))),
                   rot=(side_x, 0, 0, 0),
                   name='finger' + str(f)))
         finger = Finger(3)
         finger.name += str(f)
         wrist.attach(finger)
     # Thumb
     wrist.add_joint(
         Joint(wrist.end_pos(axis=(-side_x, 0, 1), half_spread_ratio=0),
               rot=(0, -side_x, 0, 0),
               limits=Limits.rot_x(A(-0.8, 0) * pi),
               name='thumbTwist'))
     thumbTwist = Capsule(0.015, 0.005, name='thumbTwist')
     thumbTwist.add_joint(
         Joint(thumbTwist.end_pos(0.2),
               rot=(0, 0, -side_x, 0),
               name='wrist'))
     thumbTwist.add_joint(
         Joint(thumbTwist.end_pos(-1, axis=(0, 0, -1),
                                  half_spread_ratio=-1),
               rot=(side_x, 0, 0, 0),
               name='thumb'))
     wrist.attach(thumbTwist)
     thumb = Finger(2, parent='thumbTwist')
     thumb.name = 'thumb'
     thumbTwist.attach(thumb)
예제 #4
0
 def __init__(self, side_x):
     from parts import A, Capsule, Joint, Limits, pi
     self.name = 'hand'
     self.wrist = wrist = Capsule(0.03, 0, name='wrist')
     wrist.add_joint(Joint(
         wrist.end_pos(0.3), rot=(0,1,0,0), name='lower'))
     # Fingers
     for f in xrange(3):
         wrist.add_joint(Joint(
             wrist.end_pos(axis=(-side_x,-2,2*(f-1))),
             rot=(side_x,0,0,0),
             name='finger'+str(f)))
         finger = Finger(3)
         finger.name += str(f)
         wrist.attach(finger)
     # Thumb
     wrist.add_joint(Joint(
         wrist.end_pos(axis=(-side_x,0,1), half_spread_ratio=0),
         rot=(0,-side_x,0,0),
         limits=Limits.rot_x(A(-0.8,0)*pi),
         name='thumbTwist'))
     thumbTwist = Capsule(0.015, 0.005,  name='thumbTwist')
     thumbTwist.add_joint(Joint(
         thumbTwist.end_pos(0.2), rot=(0,0,-side_x,0), name='wrist'))
     thumbTwist.add_joint(Joint(
         thumbTwist.end_pos(-1, axis=(0,0,-1), half_spread_ratio=-1),
         rot=(side_x,0,0,0),
         name='thumb'))
     wrist.attach(thumbTwist)
     thumb = Finger(2, parent='thumbTwist')
     thumb.name = 'thumb'
     thumbTwist.attach(thumb)
예제 #5
0
 def __init__(self):
     from parts import A, Capsule, Joint, Limits, pi
     self.name = 'head'
     neck = Capsule(0.04, 0, name='neck')
     neck.add_joint(
         Joint(neck.end_pos(-0.3),
               rot=(0, 1, 0, 0),
               name='chest',
               limits=Limits.rot_x(A(-0.5, 0.5) * pi)))
     neck.add_joint(
         Joint(neck.end_pos(0.3),
               name='skull',
               limits=Limits.rot_x(A(-0.5, 0.1) * pi)))
     skull = Capsule(0.06, 0.01, name='skull')
     skull.add_joint(Joint(skull.end_pos(-1), name='neck'))
     neck.attach(skull)
     self.neck = neck
     self.skull = skull
     self._add_eye(-1)
     self._add_eye(1)
예제 #6
0
 def __init__(self):
     from parts import A, Capsule, Joint, Limits, pi
     self.name = 'head'
     neck = Capsule(0.04, 0, name='neck')
     neck.add_joint(Joint(
         neck.end_pos(-0.3),
         rot=(0,1,0,0),
         name='chest',
         limits=Limits.rot_x(A(-0.5,0.5)*pi)))
     neck.add_joint(Joint(
         neck.end_pos(0.3),
         name='skull',
         limits=Limits.rot_x(A(-0.5,0.1)*pi)))
     skull = Capsule(0.06, 0.01, name='skull')
     skull.add_joint(Joint(skull.end_pos(-1), name='neck'))
     neck.attach(skull)
     self.neck = neck
     self.skull = skull
     self._add_eye(-1)
     self._add_eye(1)
예제 #7
0
 def __init__(self, phalanx_count, parent='wrist'):
     from parts import A, Capsule, Joint, Limits, pi
     self.name = 'finger'
     # Phalanx 0 really is more of a metacarpal spread thing.
     # Just that the naming convention makes this code simpler.
     self.spread = current = Capsule(0.01, 0, name='spread')
     current.add_joint(
         Joint(current.end_pos(0.5),
               limits=Limits.rot_x(A(-1, 1) * 0.2 * pi),
               name=parent))
     for n in xrange(phalanx_count):
         next = Capsule(0.01, 0.01, name='phalanx' + str(n))
         next.add_joint(
             Joint(next.end_pos(0.5),
                   rot=(0, 0, 1, 0),
                   limits=Limits.rot_x(A(-0.01, 0.5) * pi),
                   name=current.name))
         current.add_joint(
             Joint(current.end_pos(-0.5), rot=(0, 0, 1, 0), name=next.name))
         current.attach(next)
         current = next
예제 #8
0
 def __init__(self, phalanx_count, parent='wrist'):
     from parts import A, Capsule, Joint, Limits, pi
     self.name = 'finger'
     # Phalanx 0 really is more of a metacarpal spread thing.
     # Just that the naming convention makes this code simpler.
     self.spread = current = Capsule(0.01, 0, name='spread')
     current.add_joint(Joint(
         current.end_pos(0.5),
         limits=Limits.rot_x(A(-1,1)*0.2*pi),
         name=parent))
     for n in xrange(phalanx_count):
         next = Capsule(0.01, 0.01, name='phalanx'+str(n))
         next.add_joint(Joint(
             next.end_pos(0.5),
             rot=(0,0,1,0),
             limits=Limits.rot_x(A(-0.01,0.5)*pi),
             name=current.name))
         current.add_joint(Joint(
             current.end_pos(-0.5), rot=(0,0,1,0), name=next.name))
         current.attach(next)
         current = next
예제 #9
0
 def __init__(self):
     from mat import A, pi
     from parts import Capsule, Joint, Limits
     chest = Capsule(0.1, 0.0725, name='chest')
     chest.add_joint(Joint(chest.end_pos(0.5), name='head'))
     chest.add_joint(Joint(
         chest.end_pos(-0.5),
         name='abdomen',
         limits=Limits.rot_x(A(-0.1,0.5)*pi)
     ))
     abdomen = Capsule(0.08, 0.05, name='abdomen')
     abdomen.add_joint(Joint(abdomen.end_pos(0.5), name='chest'))
     abdomen.add_joint(
         Joint(abdomen.end_pos(-0.5), (0,1,0,0), name='base'))
     chest.attach(abdomen)
     chest.add_joint(
         Joint(chest.end_pos(1.4,(2.5,1,0)), (0,0,-1,0), name='arm_right'))
     chest.add_joint(
         Joint(chest.end_pos(1.4,(-2.5,1,0)), (0,0,1,0), name='arm_left'))
     chest.add_joint(Joint(chest.end_pos(), (0,1,0,0), name='head'))
     self.chest = chest
     self.abdomen = abdomen
예제 #10
0
 def __init__(self):
     from mat import A, pi
     from parts import Capsule, Joint, Limits
     chest = Capsule(0.1, 0.0725, name='chest')
     chest.add_joint(Joint(chest.end_pos(0.5), name='head'))
     chest.add_joint(
         Joint(chest.end_pos(-0.5),
               name='abdomen',
               limits=Limits.rot_x(A(-0.1, 0.5) * pi)))
     abdomen = Capsule(0.08, 0.05, name='abdomen')
     abdomen.add_joint(Joint(abdomen.end_pos(0.5), name='chest'))
     abdomen.add_joint(
         Joint(abdomen.end_pos(-0.5), (0, 1, 0, 0), name='base'))
     chest.attach(abdomen)
     chest.add_joint(
         Joint(chest.end_pos(1.4, (2.5, 1, 0)), (0, 0, -1, 0),
               name='arm_right'))
     chest.add_joint(
         Joint(chest.end_pos(1.4, (-2.5, 1, 0)), (0, 0, 1, 0),
               name='arm_left'))
     chest.add_joint(Joint(chest.end_pos(), (0, 1, 0, 0), name='head'))
     self.chest = chest
     self.abdomen = abdomen