class Wall(Model):
"""
Simple wall model to wall off the
"""
def __init__(self, name, start, end, thickness, height, **kwargs):
"""
Construct a wall of the given thickness and height from
`start` to `end`. This simply results in a box.
:param start: Starting point of the wall.
:type start: Vector3
:param end: Ending point of the wall.
:type end: Vector3
:return:
"""
super(Wall, self).__init__(name, static=True, **kwargs)
assert start.z == end.z, "Walls with different start / end z are undefined."
center = 0.5 * (end + start)
diff = end - start
size = abs(diff)
self.wall = Link("wall_link")
self.wall.make_box(10e10, size, thickness, height)
# Rotate the wall so it aligns with the vector from
# x to y
self.align(
Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 0, 1),
center, diff, Vector3(0, 0, 1), Posable("mock")
)
self.add_element(self.wall)
def gen_boxes(model_name,
dimensions=4,
spacing=0.5,
size=0.05,
height=0.015,
center_sq=1):
model = Model(model_name, static=True)
for x in range(-dimensions, dimensions + 1):
for y in range(-dimensions, dimensions + 1):
l = Link("box")
if (abs(x) >= center_sq or abs(y) >= center_sq):
l.make_box(1, size, size, height)
pos = Vector3(spacing * x, spacing * y, height / 2)
l.set_position(pos)
#l.rotate_around(Vector3(0, 0, 1), math.radians(x*y), relative_to_child=False)
model.add_element(l)
return model
def gen_boxes(dimensions=4, spacing=0.5, size=0.05):
for x in range(-dimensions,dimensions+1):
for y in range(-dimensions,dimensions+1):
l = Link("box")
#box_geom = Box(1.0, 1.0, 1.0, mass=0.5)
#b = StructureCombination("box", box_geom)
#l.add_element(b)
if (x!=0 or y!=0):
l.make_box(1, size, size, 0.01*max(abs(x),abs(y)))
pos = Vector3(spacing*x,spacing*y,0)
l.set_position(pos)
l.rotate_around(Vector3(0, 0, 1), math.radians(x*y), relative_to_child=False)
model.add_element(l)
def gen_steps(model_name,
num_steps=6,
offset=0.4,
height=0.02,
width=3.0,
depth=0.2,
incline=0):
model = Model(model_name, static=True)
steps = PosableGroup()
for x in range(0, num_steps):
l = Link("box")
l.make_box(1, depth, width, height)
pos = Vector3(offset + depth * x, 0, height / 2 + x * height)
l.set_position(pos)
steps.add_element(l)
for x in range(0, 4):
steps.set_rotation(
Quaternion.from_rpy(0, math.radians(-incline),
math.radians(90 * x)))
model.add_element(steps.copy())
return model
from __future__ import print_function
import sys
from sdfbuilder import Link, Model, SDF
from sdfbuilder.math import Vector3
# Create two similar boxes
link1 = Link("box1")
link1.make_box(1.0, 0.1, 0.3, 0.5)
link2 = Link("box2")
link2.make_box(1.0, 0.1, 0.3, 0.5)
# Align the top of box2 with the front of box1
link2.align(Vector3(0, 0, 0.25), Vector3(0, 0, -1), Vector3(1, 0, 0),
Vector3(0, -0.15, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), link1)
if __name__ == '__main__':
sdf = SDF()
model = Model("my_model")
model.add_element(link1)
model.add_element(link2)
sdf.add_element(model)
print(str(sdf))
from sdfbuilder import Link, PosableGroup, SDF, Model
from sdfbuilder.math import Vector3
from math import pi
link = Link("my_link")
minibox = Link("my_minibox")
# Link one is a vertical box
link.make_box(1.0, 2, 2, 4)
# Minibox is... well, a mini box
minibox.make_box(0.1, 0.2, 0.2, 0.2)
minibox.align(
# Bottom left corner of minibox
Vector3(-0.1, -0.1, -0.1),
# Normal vector
Vector3(-0.1, -0.1, -0.1),
# Tangent vector
Vector3(-0.1, -0.1, 0.2),
# Top left of link
Vector3(-1, -1, 2),
# Normal vector
Vector3(0, 0, 1),
# Tangent vector
sys.path.append(os.path.dirname(os.path.abspath(__file__))+'/../')
import trollius
from trollius import From
from tol.config import Config
from tol.manage import World
from sdfbuilder import SDF, Link, Model
from sdfbuilder.sensor import Sensor
conf = Config(visualize_sensors=True)
sdf = SDF()
model = Model("crash")
link = Link("my_link")
link.make_box(1.0, 1, 1, 1)
sensor = Sensor("sense", "contact")
link.add_element(sensor)
model.add_element(link)
sdf.add_element(model)
model.set_position(Vector3(0, 0, 0.5))
@trollius.coroutine
def run_server():
world = yield From(World.create(conf))
counter = 0
while True:
model.name = "test_bot_%d" % counter
print("Inserting %s..." % model.name)
from __future__ import print_function
import sys
from sdfbuilder import Link, Model, SDF
from sdfbuilder.math import Vector3
# Create two similar boxes
link1 = Link("box1")
link1.make_box(1.0, 0.1, 0.3, 0.5)
link2 = Link("box2")
link2.make_box(1.0, 0.1, 0.3, 0.5)
# Align the top of box2 with the front of box1
link2.align(
Vector3(0, 0, 0.25),
Vector3(0, 0, -1),
Vector3(1, 0, 0),
Vector3(0, -0.15, 0),
Vector3(0, 1, 0),
Vector3(0, 0, 1),
link1
)
if __name__ == '__main__':
sdf = SDF()
model = Model("my_model")
model.add_element(link1)
model.add_element(link2)
sdf.add_element(model)
from sdfbuilder import Link, PosableGroup, SDF, Model
from sdfbuilder.math import Vector3
from math import pi
link = Link("my_link")
minibox = Link("my_minibox")
# Link one is a vertical box
link.make_box(1.0, 2, 2, 4)
# Minibox is... well, a mini box
minibox.make_box(0.1, 0.2, 0.2, 0.2)
minibox.align(
# Bottom left corner of minibox
Vector3(-0.1, -0.1, -0.1),
# Normal vector
Vector3(-0.1, -0.1, -0.1),
# Tangent vector
Vector3(-0.1, -0.1, 0.2),
# Top left of link
Vector3(-1, -1, 2),
# Normal vector
Vector3(0, 0, 1),
# Tangent vector
