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)
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)
def _add_eye(self, side_x):
from parts import Capsule, Joint, Material
name = 'eye_' + side_name(side_x)
eye = Capsule(0.015, 0, name=name, material=Material(0.001,0xFF0060A0))
eye.add_joint(Joint((0,0,0), name='skull'))
skull = self.skull
skull.add_joint(Joint(skull.end_pos(0.8,axis=(side_x*0.2,0,1)), name=name))
skull.attach(eye)
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)
def __init__(self):
from parts import Capsule, Joint
hips = Capsule(0.12, 0.1, name='hips')
hips.add_joint(Joint(hips.end_pos(0.8), (0, 1, 0, 0), name='abdomen'))
self.hips = hips
self.name = 'base'
# Wheels.
self.wheel_right = self._add_wheel(-1)
self.wheel_left = self._add_wheel(1)
# Casters.
self._add_casters()
def __init__(self):
from parts import Capsule, Joint
hips = Capsule(0.12, 0.1, name='hips')
hips.add_joint(Joint(hips.end_pos(0.8), (0,1,0,0), name='abdomen'))
self.hips = hips
self.name = 'base'
# Wheels.
self.wheel_right = self._add_wheel(-1)
self.wheel_left = self._add_wheel(1)
# Casters.
self._add_casters()
def _add_eye(self, side_x):
from parts import Capsule, Joint, Material
name = 'eye_' + side_name(side_x)
eye = Capsule(0.015,
0,
name=name,
material=Material(0.001, 0xFF0060A0))
eye.add_joint(Joint((0, 0, 0), name='skull'))
skull = self.skull
skull.add_joint(
Joint(skull.end_pos(0.8, axis=(side_x * 0.2, 0, 1)), name=name))
skull.attach(eye)
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
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
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)
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
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)
def __init__(self, side_x):
"""
side_x - is the arm on the left (-1) or right (1)
TODO Parameterize this some for length or width ratios, ...
"""
from parts import Capsule, Joint, pi
self.name = 'arm_' + side_name(side_x)
shoulder = Capsule(0.05, 0, name='shoulder')
shoulder.add_joint(
Joint((0, 0, 0), rot=(0, 0, -side_x, 0), name='chest'))
shoulder.add_joint(Joint((0, 0, 0), name='upper'))
upper = Capsule(0.03, 0.05, name='upper')
upper.add_joint(Joint(upper.end_pos(0.5), name='shoulder'))
upper.add_joint(
Joint(upper.end_pos(-1), rot=(0, 1, 0, 0), name='elbow'))
shoulder.attach(upper)
self.shoulder = shoulder
elbow = Capsule(0.03, 0.01, name='elbow')
elbow.add_joint(
Joint(elbow.end_pos(0.2), rot=(0, 1, 0, 0), name='upper'))
elbow.add_joint(Joint(elbow.end_pos(-0.2), name='lower'))
upper.attach(elbow)
lower = Capsule(0.03, 0.05, name='lower')
# TODO The angle on the joint rot doesn't currently do anything.
lower.add_joint(
Joint(lower.end_pos(), rot=(-side_x, 0, 0, 0.5 * pi),
name='elbow'))
lower.add_joint(Joint(lower.end_pos(-1), rot=(0, 1, 0, 0),
name='hand'))
elbow.attach(lower)
self.lower = lower
lower.attach(Hand(side_x))
def __init__(self, side_x):
"""
side_x - is the arm on the left (-1) or right (1)
TODO Parameterize this some for length or width ratios, ...
"""
from parts import Capsule, Joint, pi
self.name = 'arm_' + side_name(side_x)
shoulder = Capsule(0.05, 0, name='shoulder')
shoulder.add_joint(Joint((0,0,0), rot=(0,0,-side_x,0), name='chest'))
shoulder.add_joint(Joint((0,0,0), name='upper'))
upper = Capsule(0.03, 0.05, name='upper')
upper.add_joint(Joint(upper.end_pos(0.5), name='shoulder'))
upper.add_joint(Joint(upper.end_pos(-1), rot=(0,1,0,0), name='elbow'))
shoulder.attach(upper)
self.shoulder = shoulder
elbow = Capsule(0.03, 0.01, name='elbow')
elbow.add_joint(Joint(elbow.end_pos(0.2), rot=(0,1,0,0), name='upper'))
elbow.add_joint(Joint(elbow.end_pos(-0.2), name='lower'))
upper.attach(elbow)
lower = Capsule(0.03, 0.05, name='lower')
# TODO The angle on the joint rot doesn't currently do anything.
lower.add_joint(Joint(
lower.end_pos(), rot=(-side_x,0,0,0.5*pi), name='elbow'))
lower.add_joint(Joint(lower.end_pos(-1), rot=(0,1,0,0), name='hand'))
elbow.attach(lower)
self.lower = lower
lower.attach(Hand(side_x))
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
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)
