# System imports
from __future__ import absolute_import
# SDF builder imports
from sdfbuilder.sensor import Sensor as SdfSensor
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Box, Mesh
# Revolve imports
from revolve.build.sdf import BodyPart
from revolve.build.util import in_grams, in_mm
# Local imports
from .util import ColorMixin
MASS = in_grams(90.0)
WIDTH = in_mm(90)
HEIGHT = in_mm(45)
class CoreComponent(BodyPart, ColorMixin):
"""
The core component of the robot, basically a box with an IMU sensor.
"""
def _initialize(self, **kwargs):
"""
:param kwargs:
:return:
"""
self.link = self.create_component(Box(WIDTH, WIDTH, HEIGHT, MASS), "box",
# Revolve imports
from revolve.build.sdf import BodyPart, ComponentJoint as Joint
from revolve.build.util import in_grams, in_mm
from sdfbuilder.joint import Limit
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Cylinder, Box
# Local imports
from .util import ColorMixin
from ..config import constants
MASS_SLOT = in_grams(2.5)
MASS_WHEEL = in_grams(4)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(10.75)
SLOT_CONNECTION_THICKNESS = in_mm(1.5)
SLOT_WHEEL_OFFSET = in_mm(7.5)
WHEEL_THICKNESS = in_mm(3)
class Wheel(BodyPart, ColorMixin):
"""
Passive wheel
"""
def _initialize(self, **kwargs):
self.radius = in_mm(kwargs['radius'])
wheel = self.create_component(Cylinder(self.radius, WHEEL_THICKNESS, MASS_WHEEL), "wheel")
self.root = self.create_component(Box(SLOT_WIDTH, SLOT_WIDTH, SLOT_THICKNESS, MASS_SLOT))
from __future__ import print_function
from revolve.build.util import in_grams, in_mm
from sdfbuilder import Link, SDF, Model
from sdfbuilder.structure import Collision, Visual, Box, StructureCombination
from sdfbuilder.math import Vector3
import math
from tol.build.builder import apply_surface_parameters
MASS = in_grams(3)
SENSOR_BASE_WIDTH = in_mm(34)
SENSOR_BASE_THICKNESS = in_mm(1.5)
SENSOR_THICKNESS = in_mm(9)
SENSOR_WIDTH = in_mm(18.5)
SENSOR_HEIGHT = in_mm(16)
SEPARATION = in_mm(1)
m = Model(name="mybot")
sdf = SDF(elements=[m])
geom = Box(SENSOR_BASE_THICKNESS, SENSOR_BASE_WIDTH, SENSOR_BASE_WIDTH, MASS)
base = StructureCombination("base", geom)
x_sensors = 0.5 * (SENSOR_BASE_THICKNESS + SENSOR_THICKNESS)
y_left_sensor = -0.5 * SENSOR_WIDTH - SEPARATION
y_right_sensor = 0.5 * SENSOR_WIDTH + SEPARATION
left = StructureCombination("left", Box(SENSOR_THICKNESS, SENSOR_WIDTH, SENSOR_HEIGHT, MASS))
left.set_position(Vector3(x_sensors, y_left_sensor, 0))
# Revolve imports
from revolve.build.sdf import BodyPart, ComponentJoint as Joint
from revolve.build.util import in_grams, in_mm
# SDF builder imports
from sdfbuilder import Limit
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Box
# Local imports
from .util import ColorMixin
from ..config import constants
MASS_SLOT = in_grams(2)
MASS_FRAME = in_grams(3)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(1.5)
CONNECTION_PART_LENGTH = in_mm(24)
CONNECTION_PART_HEIGHT = in_mm(10)
# Computed from the outermost corner of the connection part
CONNECTION_PART_OFFSET = in_mm(18.5)
SEPARATION = in_mm(0.1)
class Cardan(BodyPart, ColorMixin):
"""
A passive cardan
"""
# Revolve imports from __future__ import print_function import itertools import math from revolve.build.sdf import BodyPart, VelocityMotor, ComponentJoint as Joint from revolve.build.util import in_grams, in_mm from sdfbuilder.joint import Limit from sdfbuilder.math import Vector3 from sdfbuilder.structure import Box, Cylinder # Local imports from .util import ColorMixin from ..config import constants MASS_SLOT = in_grams(4) MASS_SERVO = in_grams(9) MASS_WHEG = in_grams(3) SLOT_WIDTH = in_mm(34) SLOT_THICKNESS = in_mm(1.5) WHEG_BASE_RADIUS = in_mm(9) WHEG_THICKNESS = in_mm(4) WHEG_WIDTH = in_mm(4) # z-center shift w.r.t. slot z-center SERVO_Z_OFFSET = in_mm(9) SERVO_WIDTH = in_mm(14) # Take of wheg thickness because they overlap in reality SERVO_LENGTH = in_mm(36.8) - WHEG_THICKNESS
# Revolve imports
from revolve.build.sdf import BodyPart, VelocityMotor, ComponentJoint as Joint
from revolve.build.util import in_grams, in_mm
from sdfbuilder.joint import Limit
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Cylinder, Box
# Local imports
from .util import ColorMixin
from ..config import constants
MASS_SLOT = in_grams(4)
MASS_SERVO = in_grams(9)
MASS_WHEEL = in_grams(5)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(1.5)
SERVO_WIDTH = in_mm(14)
WHEEL_THICKNESS = in_mm(3)
SERVO_LENGTH = in_mm(36.8) - WHEEL_THICKNESS
SERVO_HEIGHT = in_mm(14)
SEPARATION = in_mm(1.0)
X_SERVO = -SLOT_THICKNESS + SEPARATION + 0.5 * SERVO_LENGTH
X_WHEEL = X_SERVO + 0.5 * SERVO_LENGTH
class ActiveWheel(BodyPart, ColorMixin):
"""
Active wheel
"""
def _initialize(self, **kwargs):
# Revolve / sdfbuilder imports
from revolve.build.sdf import Box
from revolve.build.util import in_grams, in_mm
from sdfbuilder.structure import Box as BoxGeom, Mesh
from sdfbuilder.math import Vector3
# Local imports
from .util import ColorMixin
WIDTH = in_mm(41)
HEIGHT = in_mm(35.5)
MASS = in_grams(10.2)
class FixedBrick(Box, ColorMixin):
"""
Brick - same size as the core component, but
without any sensors. We can conveniently model this
as a box.
"""
X = WIDTH
Y = WIDTH
Z = HEIGHT
MASS = MASS
def _initialize(self, **kwargs):
self.component = self.create_component(
BoxGeom(self.x, self.y, self.z, self.mass), "box",
visual=Mesh("model://tol_robot/meshes/FixedBrick.dae"))
self.apply_color()
# Revolve imports
from revolve.build.sdf import BodyPart, PositionMotor, ComponentJoint as Joint
from revolve.build.util import in_grams, in_mm
from sdfbuilder.joint import Limit
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Box
# Local imports
from .util import ColorMixin
from ..config import constants
MASS_SLOT = in_grams(4)
MASS_SERVO = in_grams(9)
MASS_CONNECTION_SLOT = in_grams(2)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(1.5)
SERVO_Z_OFFSET = in_mm(0)
SERVO_WIDTH = in_mm(14)
SERVO_LENGTH = in_mm(36.8)
SERVO_HEIGHT = in_mm(14)
JOINT_CONNECTION_THICKNESS = in_mm(7.5)
JOINT_CONNECTION_WIDTH = in_mm(34)
SEPARATION = in_mm(0.1)
class ActiveRotator(BodyPart, ColorMixin):
"""
Active wheel
"""
class ParametricBarJoint(BodyPart, ColorMixin):
"""
The parametric bar joint allows the introduction of fix
angles into your robot and can also be useful
depending on the needs to space components of your robot.
Three parameters can be controlled:
- The length of the joint (H, between 2 and 10 centimeters),
- its tilt (alpha, between -pi/2 and pi/2) and
- its rotation (beta, between 0 and pi).
Compared to the fixed brick or core component, the parametric bar joint
is somewhat frail and should not be exposed to too much mechanical stress.
"""
MASS_SLOT = in_grams(1)
MASS_CONNECTION_PER_CM = in_grams(2)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(1.5)
CONNECTION_PART_WIDTH = in_mm(20)
CONNECTION_PART_THICKNESS = in_mm(2)
SEPARATION = in_mm(0)
def _initialize(self, **kwargs):
"""
:param kwargs:
:return:
"""
# Variable shorthands
mass = self.MASS_SLOT
thickness = self.SLOT_THICKNESS
width = self.SLOT_WIDTH
conn_width = self.CONNECTION_PART_WIDTH
conn_thickness = self.CONNECTION_PART_THICKNESS
mass_per_cm = self.MASS_CONNECTION_PER_CM
sep = self.SEPARATION
# Connection length is in mm
self.conn_length = conn_length = in_mm(kwargs['connection_length'])
# Initialize root
self.root = self.create_component(Box(thickness, width, width, mass),
"root")
# Initialize connection
x_connection = 0.5 * (thickness + conn_length) + sep
connection = self.create_component(
Box(conn_length, conn_width, conn_thickness,
10 * mass_per_cm * conn_length), "connection")
connection.set_position(Vector3(x_connection, 0, 0))
# Tail
x_slot_b = x_connection + 0.5 * (conn_length + thickness) + sep
self.tail = self.create_component(Box(thickness, width, width, mass),
"tail")
self.tail.set_position(Vector3(x_slot_b, 0, 0))
# Create fixed joints between the parts
# root <> connection
self.fix(self.root, connection)
# connection <> tail
self.fix(connection, self.tail)
# Now perform the rotations. `BodyPart` guarantees
# that it has origin position and zero orientation
# at initialisation time, as to avoid confusion with
# `relative_to_child`.
self.tilt = tilt = kwargs['alpha']
self.rotation = rotation = kwargs['beta']
# First rotate the connection and the tail over beta
rotation_axis = Vector3(1, 0, 0)
connection.rotate_around(rotation_axis,
rotation,
relative_to_child=False)
self.tail.rotate_around(rotation_axis,
rotation,
relative_to_child=False)
# First tilt the tail over alpha
self.tail.rotate_around(Vector3(0, 1, 0), tilt, relative_to_child=True)
# Trigger color mixin
self.apply_color()
def get_slot(self, slot_id):
self.check_slot(slot_id)
return self.root if slot_id == 0 else self.tail
def get_slot_position(self, slot_id):
self.check_slot(slot_id)
offset = 0.5 * self.SLOT_THICKNESS
if slot_id == 0:
# Root has no relative pose so this is easy
return Vector3(-offset, 0, 0)
else:
# This is a posable group, so we must use
# sibling conversion.
return self.tail.to_sibling_frame(Vector3(offset, 0, 0), self)
def get_slot_tangent(self, slot_id):
self.check_slot(slot_id)
vec = Vector3(0, 1, 0)
return vec if slot_id == 0 else self.tail.to_sibling_direction(
vec, self)
def get_slot_normal(self, slot_id):
self.check_slot(slot_id)
if slot_id == 0:
return Vector3(-1, 0, 0)
else:
return self.tail.to_sibling_direction(Vector3(1, 0, 0), self)
# Revolve imports from revolve.build.sdf import BodyPart, PositionMotor, ComponentJoint as Joint from revolve.build.util import in_grams, in_mm # SDF builder imports from sdfbuilder.math import Vector3 from sdfbuilder.joint import Limit from sdfbuilder.structure import Box # Local imports from .util import ColorMixin from ..config import constants MASS_SERVO = in_grams(7) MASS_SLOT = in_grams(2) MASS_CROSS = in_grams(3) SLOT_WIDTH = in_mm(34) SLOT_THICKNESS = in_mm(1.5) CONNECTION_PART_WIDTH = in_mm(12.5) CONNECTION_PART_LENGTH = in_mm(24.5) CONNECTION_PART_HEIGHT = in_mm(21) CROSS_WIDTH = in_mm(10) CROSS_HEIGHT = in_mm(34) CROSS_THICKNESS = in_mm(3) # Outer to inner (was: left to right) CONNECTION_PART_ROTATION_OFFSET = in_mm(20.5) # Offset of the cross center from the rotation axis CROSS_CENTER_OFFSET = in_mm(17)
# Revolve imports
from revolve.build.sdf import BodyPart, ComponentJoint as Joint
from revolve.build.util import in_grams, in_mm
from sdfbuilder.joint import Limit
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Cylinder, Box
# Local imports
from .util import ColorMixin
from ..config import constants
MASS_SLOT = in_grams(2.5)
MASS_WHEEL = in_grams(4)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(10.75)
SLOT_CONNECTION_THICKNESS = in_mm(1.5)
SLOT_WHEEL_OFFSET = in_mm(7.5)
WHEEL_THICKNESS = in_mm(3)
class Wheel(BodyPart, ColorMixin):
"""
Passive wheel
"""
def _initialize(self, **kwargs):
self.radius = in_mm(kwargs['radius'])
wheel = self.create_component(
Cylinder(self.radius, WHEEL_THICKNESS, MASS_WHEEL), "wheel")
# Revolve imports
from revolve.build.sdf import BodyPart, PositionMotor, ComponentJoint as Joint
from revolve.build.util import in_grams, in_mm
from sdfbuilder.joint import Limit
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Box
# Local imports
from .util import ColorMixin
from ..config import constants
MASS_SLOT = in_grams(4)
MASS_SERVO = in_grams(9)
MASS_CONNECTION_SLOT = in_grams(2)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(1.5)
SERVO_Z_OFFSET = in_mm(0)
SERVO_WIDTH = in_mm(14)
SERVO_LENGTH = in_mm(36.8)
SERVO_HEIGHT = in_mm(14)
JOINT_CONNECTION_THICKNESS = in_mm(7.5)
JOINT_CONNECTION_WIDTH = in_mm(34)
SEPARATION = in_mm(0.1)
class ActiveRotator(BodyPart, ColorMixin):
"""
Active wheel
"""
from __future__ import absolute_import # Revolve imports from revolve.build.sdf import BodyPart, PositionMotor, ComponentJoint as Joint from revolve.build.util import in_grams, in_mm # SDF builder imports from sdfbuilder.math import Vector3 from sdfbuilder.joint import Limit from sdfbuilder.structure import Box, Mesh, Visual # Local imports from .util import ColorMixin from ..config import constants MASS_SLOT = in_grams(7) MASS_SERVO = in_grams(9) MASS_FRAME = in_grams(1.2) SLOT_WIDTH = in_mm(34) SLOT_THICKNESS = in_mm(1.5) FRAME_LENGTH = in_mm(18) FRAME_HEIGHT = in_mm(10) FRAME_ROTATION_OFFSET = in_mm(14) """ Left to right """ SERVO_LENGTH = in_mm(24.5) SERVO_HEIGHT = in_mm(10) SERVO_ROTATION_OFFSET = in_mm(20.5) """ Right to left """
from __future__ import print_function
import sys
# Revolve imports
from revolve.build.sdf import Box
from revolve.build.util import in_grams, in_mm
# SDF builder imports
from sdfbuilder.math import Vector3
from sdfbuilder.sensor import Sensor as SdfSensor
from sdfbuilder.util import number_format as nf
# Local imports
from .util import ColorMixin
MASS = in_grams(2)
SENSOR_BASE_WIDTH = in_mm(34)
SENSOR_BASE_THICKNESS = in_mm(1.5)
class LightSensor(Box, ColorMixin):
"""
Simple light sensor. This extends `Box` for convenience,
make sure you set the arity to 1 in the body specification.
"""
def _initialize(self, **kwargs):
"""
:param kwargs:
:return:
"""
# Revolve imports
from __future__ import absolute_import
import math
from revolve.build.sdf import BodyPart, ComponentJoint as Joint
from revolve.build.util import in_grams, in_mm
# SDF builder imports
from sdfbuilder import Limit
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Box, Mesh, Visual
# Local imports
from .util import ColorMixin
from ..config import constants
MASS_SLOT = in_grams(2)
MASS_FRAME = in_grams(1)
SLOT_WIDTH = in_mm(34)
SLOT_THICKNESS = in_mm(1.5)
CONNECTION_PART_LENGTH = in_mm(20.5)
CONNECTION_PART_HEIGHT = in_mm(20)
CONNECTION_PART_THICKNESS = in_mm(2)
CONNECTION_ROTATION_OFFSET = in_mm(18.5)
""" Computed from the left corner of the connection part. """
SEPARATION = in_mm(0.1)
class Hinge(BodyPart, ColorMixin):
"""
A passive hinge
# Revolve imports from revolve.build.sdf import BodyPart, PositionMotor, ComponentJoint as Joint from revolve.build.util import in_grams, in_mm # SDF builder imports from sdfbuilder.math import Vector3 from sdfbuilder.joint import Limit from sdfbuilder.structure import Box # Local imports from .util import ColorMixin from ..config import constants MASS_SERVO = in_grams(7) MASS_SLOT = in_grams(2) MASS_CROSS = in_grams(3) SLOT_WIDTH = in_mm(34) SLOT_THICKNESS = in_mm(1.5) CONNECTION_PART_WIDTH = in_mm(12.5) CONNECTION_PART_LENGTH = in_mm(24.5) CONNECTION_PART_HEIGHT = in_mm(21) CROSS_WIDTH = in_mm(10) CROSS_HEIGHT = in_mm(34) CROSS_THICKNESS = in_mm(3) # Outer to inner (was: left to right) CONNECTION_PART_ROTATION_OFFSET = in_mm(20.5) # Offset of the cross center from the rotation axis CROSS_CENTER_OFFSET = in_mm(17)
# System imports
from __future__ import absolute_import
# SDF builder imports
from sdfbuilder.sensor import Sensor as SdfSensor
from sdfbuilder.math import Vector3
from sdfbuilder.structure import Box, Mesh
# Revolve imports
from revolve.build.sdf import BodyPart
from revolve.build.util import in_grams, in_mm
# Local imports
from .util import ColorMixin
MASS = in_grams(90.0)
WIDTH = in_mm(90)
HEIGHT = in_mm(45)
class CoreComponent(BodyPart, ColorMixin):
"""
The core component of the robot, basically a box with an IMU sensor.
"""
def _initialize(self, **kwargs):
"""
:param kwargs:
:return:
"""
self.link = self.create_component(
Box(WIDTH, WIDTH, HEIGHT, MASS),
from __future__ import absolute_import # Revolve imports from revolve.build.sdf import BodyPart, PositionMotor, ComponentJoint as Joint from revolve.build.util import in_grams, in_mm # SDF builder imports from sdfbuilder.math import Vector3 from sdfbuilder.joint import Limit from sdfbuilder.structure import Box, Mesh, Visual # Local imports from .util import ColorMixin from ..config import constants MASS_SLOT = in_grams(7) MASS_SERVO = in_grams(9) MASS_FRAME = in_grams(1.2) SLOT_WIDTH = in_mm(34) SLOT_THICKNESS = in_mm(1.5) FRAME_LENGTH = in_mm(18) FRAME_HEIGHT = in_mm(10) FRAME_ROTATION_OFFSET = in_mm(14) """ Left to right """ SERVO_LENGTH = in_mm(24.5) SERVO_HEIGHT = in_mm(10) SERVO_ROTATION_OFFSET = in_mm(20.5) """ Right to left """