def build(ang_1=0., ang_2=0.):
r"""Build the robotic arm
Parameters
----------
ang_1 : float
Rotation of base plate on base
ang_2 : float
Angle of arm to base plate
"""
assembly = Assembly(root_part=b, name="main")
at, jo = assembly.add_part(
part_to_add=bp,
part_to_add_anchors=["Plate_axis"],
receiving_parts=[b],
receiving_parts_anchors=["A1"],
links=[Joint(anchor=b.transformed_anchors['A1'], rx=ang_1)])
at1, jo1 = assembly.add_part(
part_to_add=a1,
part_to_add_anchors=["E1"],
receiving_parts=[bp],
receiving_parts_anchors=["Arm_axis"],
links=[Joint(anchor=bp.transformed_anchors['Arm_axis'], ry=ang_2)])
return assembly
def make_wheel_assembly():
r"""Wheel assembly creation"""
rim_path = r_("shelf/wheel/CAR-WHEEL-RIM-D416_l174_mm---.stepzip")
rim = anchorable_part_from_stepzip(stepzip_filepath=rim_path)
tyre_path = r_("shelf/wheel/CAR-WHEEL-TYRE-D575_l178_mm-RUBBER--.stepzip")
tyre = anchorable_part_from_stepzip(stepzip_filepath=tyre_path)
wheel_assembly = Assembly(root_part=rim, name="wheel_assembly")
wheel_assembly.add_part(
part_to_add=tyre,
part_to_add_anchors=['AXIS_SIDE_d383#mm_'],
receiving_parts=[rim],
receiving_parts_anchors=['AXIS_TYRE_d412#mm_'],
links=[Joint(anchor=rim.transformed_anchors['AXIS_TYRE_d412#mm_'])])
return wheel_assembly
shape=BRepPrimAPI_MakeBox(10, 10, 10).Shape(),
anchors=[Anchor(p=(5, 5, 10), u=(0, 0, 1), v=(0, 1, 0), name='t1')],
name='ap1')
m = gp_Trsf()
m.SetTranslation(gp_Vec(100, 0, 0))
trf = BRepBuilderAPI_Transform(m)
s2 = BRepPrimAPI_MakeBox(20, 20, 20).Shape()
trf.Perform(s2, False)
ap2 = AnchorablePart(
shape=trf.Shape(),
anchors=[Anchor(p=(110, 10, 20), u=(0, 0, 1), v=(0, 1, 0), name='t2')],
name='ap2')
a = Assembly(root_part=ap1, name='simple assembly')
a.add_part(part_to_add=ap2,
part_to_add_anchors=['t2'],
receiving_parts=[ap1],
receiving_parts_anchors=['t1'],
links=[Joint(anchor=ap1.transformed_anchors['t1'], rx=1)])
__assembly__ = a
if __name__ == "__main__":
from OCC.Display.SimpleGui import init_display
from cadracks_core.display import display_anchorable_part, display_assembly
display, start_display, add_menu, add_function_to_menu = init_display()
name='top'),
Anchor(p=(5, 5, 0),
u=(0, 0, -1),
v=(0, 1, 0),
name='bottom')
],
name='ap1')
ap2 = ap1.copy(new_name='ap2')
ap3 = ap1.copy(new_name='ap3')
ap4 = ap1.copy(new_name='ap4')
# ap5 = ap1.copy(new_name='ap5')
# ap6 = ap1.copy(new_name='ap6')
# We create an assembly of 2 anchorable parts
a = Assembly(root_part=ap1, name='a')
a.add_part(part_to_add=ap2,
part_to_add_anchors=['bottom'],
receiving_parts=[ap1],
receiving_parts_anchors=['top'],
links=[Joint(anchor=ap1.anchors['top'])])
# We create another assembly of 2 anchorable parts
b = Assembly(root_part=ap3, name='b')
b.add_part(
part_to_add=ap4,
part_to_add_anchors=['bottom'],
receiving_parts=[ap3],
receiving_parts_anchors=['top'],
links=[
Joint(
name='top'),
Anchor(p=(5, 5, 0),
u=(0, 0, -1),
v=(0, 1, 0),
name='bottom')
],
name='ap1')
ap2 = ap1.copy(new_name='ap2')
ap3 = ap1.copy(new_name='ap3')
ap4 = ap1.copy(new_name='ap4')
ap5 = ap1.copy(new_name='ap5')
ap6 = ap1.copy(new_name='ap6')
# We create an assembly of 2 anchorable parts
a = Assembly(root_part=ap1, name='a')
a.add_part(part_to_add=ap2,
part_to_add_anchors=['top'],
receiving_parts=[ap1],
receiving_parts_anchors=['top'],
links=[Joint(anchor=ap1.anchors['top'])])
# We create another assembly of 2 anchorable parts
b = Assembly(root_part=ap3, name='b')
b.add_part(
part_to_add=ap4,
part_to_add_anchors=['top'],
receiving_parts=[ap3],
receiving_parts_anchors=['top'],
links=[
Joint(
ap4 = AnchorablePart(shape=shape_1,
anchors=[
Anchor(p=(5, 5, 10),
u=(0, 0, 1),
v=(0, 1, 0),
name='top4'),
Anchor(p=(5, 5, 0),
u=(0, 0, -1),
v=(0, 1, 0),
name='bottom4')
],
name='ap4')
# We create an assembly of 2 anchorable parts
a = Assembly(root_part=ap1, name='a')
a.add_part(part_to_add=ap2,
part_to_add_anchors=['top2'],
receiving_parts=[ap1],
receiving_parts_anchors=['top1'],
links=[Joint(anchor=ap1.anchors['top1'], tx=0, rx=0, ry=0, rz=0)])
# print("assembly a has %i parts and %i anchors" %
# (len(a._parts), len(a.anchors)))
# We create another assembly of 2 anchorable parts
b = Assembly(root_part=ap3, name='b')
b.add_part(
part_to_add=ap4,
part_to_add_anchors=['top4'],
receiving_parts=[ap3],
receiving_parts_anchors=['top3'],
def make_chassis_assembly():
r"""Chassis assembly creation"""
p1_base = anchorable_part_from_stepzip(
r_("shelf/chassis/CAR-CHASSIS-BASE-2.38_0.179_1.18-STEEL--.stepzip"))
p2_l = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-CHASSIS-ARCHLEFT-705_515_184_mm-STEEL--.stepzip"))
p2_r = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-CHASSIS-ARCHRIGHT-705_515_184_mm-STEEL--.stepzip"))
p4 = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-CHASSIS-ARCHSTRUT-127_126_796_mm-STEEL--.stepzip"))
p5 = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-CHASSIS-SEATSSUPPORT-410_151_1174_mm-STEEL--.stepzip"))
p6 = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-CHASSIS-DASHBOARDSUPPORT-107_535_1184_mm-STEEL--.stepzip"))
p7_l = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-SUSPENSION-ARCHLEFT-526_535_284_mm-STEEL--.stepzip"))
p7_r = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-SUSPENSION-ARCHRIGHT-526_535_284_mm-STEEL--.stepzip"))
p8 = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-CHASSIS-ARCHSTRUT-111_130_746_mm-STEEL--.stepzip"))
p9 = anchorable_part_from_stepzip(
r_("shelf/chassis/"
"CAR-CHASSIS-DASHBOARDSUPPORTREINFORCEMENT-205_525_75_mm-STEEL--.stepzip"
))
chassis_assembly = Assembly(root_part=p1_base, name="chassis_assembly")
chassis_assembly.add_part(
part_to_add=p2_l,
part_to_add_anchors=['D3'],
receiving_parts=[p1_base],
receiving_parts_anchors=['A2-L'],
links=[
Joint(anchor=p1_base.transformed_anchors['A2-L'], rx=radians(180))
])
chassis_assembly.add_part(
part_to_add=p2_r,
part_to_add_anchors=['D3'],
receiving_parts=[p1_base],
receiving_parts_anchors=['A2-R'],
links=[
Joint(anchor=p1_base.transformed_anchors['A2-R'], rx=radians(180))
])
chassis_assembly.add_part(
part_to_add=p4,
part_to_add_anchors=['B4'],
receiving_parts=[p2_r],
receiving_parts_anchors=['B2'],
links=[Joint(anchor=p2_r.transformed_anchors['B2'])])
chassis_assembly.add_part(
part_to_add=p5,
part_to_add_anchors=['F1'],
receiving_parts=[p1_base],
receiving_parts_anchors=['F2-R'],
links=[
Joint(anchor=p1_base.transformed_anchors['F2-R'], rx=radians(180))
])
chassis_assembly.add_part(
part_to_add=p6,
part_to_add_anchors=['A1'],
receiving_parts=[p1_base],
receiving_parts_anchors=['G3-L'],
links=[
Joint(anchor=p1_base.transformed_anchors['G3-L'], rx=radians(180))
])
chassis_assembly.add_part(
part_to_add=p7_l,
part_to_add_anchors=['A4'],
receiving_parts=[p1_base],
receiving_parts_anchors=['K3-L'],
links=[
Joint(anchor=p1_base.transformed_anchors['K3-L'], rx=radians(180))
])
chassis_assembly.add_part(
part_to_add=p7_r,
part_to_add_anchors=['A4'],
receiving_parts=[p1_base],
receiving_parts_anchors=['K3-R'],
links=[
Joint(anchor=p1_base.transformed_anchors['K3-R'], rx=radians(180))
])
chassis_assembly.add_part(
part_to_add=p8,
part_to_add_anchors=['A1'],
receiving_parts=[p7_l],
receiving_parts_anchors=['B1'],
links=[Joint(anchor=p7_l.transformed_anchors['B1'])])
chassis_assembly.add_part(part_to_add=p9,
part_to_add_anchors=['A1'],
receiving_parts=[p1_base],
receiving_parts_anchors=['H2'],
links=[
Joint(
anchor=p1_base.transformed_anchors['H2'],
rx=radians(180))
])
return chassis_assembly
"libraries/ISO4032_library.json")
plate_gn = anchorable_part_from_py_script(py_script_path=plate_with_holes_script)
print("Plate gn : %s" % plate_gn)
screws = [anchorable_part_from_library(
library_file_path=iso_4014_library_filepath,
part_id="ISO4014_M2_grade_Bx21") for _ in range(4)]
nuts = [anchorable_part_from_library(
library_file_path=iso_4032_library_filepath,
part_id="ISO4032_Nut_M2.0") for _ in range(4)]
__assembly__ = Assembly(root_part=plate_gn, name="Plate and bolts")
for i, screw in enumerate(screws, 1):
__assembly__.add_part(part_to_add=screw,
part_to_add_anchors=['head_bottom'],
receiving_parts=[plate_gn],
receiving_parts_anchors=[str(i)],
links=[Joint(anchor=screw.transformed_anchors['head_bottom'])])
for i, (screw, nut) in enumerate(zip(screws, nuts), 1):
__assembly__.add_part(part_to_add=nut,
part_to_add_anchors=['nut_top'],
receiving_parts=[screw],
receiving_parts_anchors=['head_bottom'],
anchors=[
Anchor(p=(5, 5, 10),
u=(0, 0, 1),
v=(0, 1, 0),
name='top1'),
Anchor(p=(5, 5, 0),
u=(0, 0, -1),
v=(0, 1, 0),
name='bottom1')
],
name='ap1')
ap2 = ap1.copy(new_name="ap2")
# We create an assembly of 2 anchorable parts
a = Assembly(root_part=ap1, name='a')
a.add_part(part_to_add=ap2,
part_to_add_anchors=['bottom1'],
receiving_parts=[ap1],
receiving_parts_anchors=['top1'],
links=[Joint(anchor=ap1.anchors['top1'], rx=radians(10))])
# We create another assembly of 2 anchorable parts
b = a.copy(new_name='b')
__assemblies__ = [a, b]
if __name__ == "__main__":
display, start_display, add_menu, add_function_to_menu = init_display()
# Choose to show the assemblies before one is added to the other (True),
AnchorablePart(shape=trf.Shape(),
anchors=[
Anchor(p=(5 + randx, 5 + randy, 10 + randz),
u=(0, 0, 1),
v=(0, 1, 0),
name='top'),
Anchor(p=(5 + randx, 5 + randy, 0 + randz),
u=(0, 0, -1),
v=(0, 1, 0),
name='bottom')
],
name='ap'))
new_cubes = deepcopy(cubes)
a = Assembly(root_part=new_cubes[0], name='cubes pile')
for i, ap in enumerate(new_cubes[1:]):
a.add_part(part_to_add=ap,
part_to_add_anchors=['bottom'],
receiving_parts=[new_cubes[i]],
receiving_parts_anchors=['top'],
links=[Joint(anchor=ap.transformed_anchors['bottom'], tx=-5)])
if __name__ == "__main__":
from OCC.Display.SimpleGui import init_display
from cadracks_core.display import display_anchorable_part
display, start_display, add_menu, add_function_to_menu = init_display()
for ap in cubes:
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with cadracks-core. If not, see <https://www.gnu.org/licenses/>.
r"""Minimalistic assembly example"""
from cadracks_core.factories import anchorable_part_from_py_script
from cadracks_core.model import Assembly
from cadracks_core.joints import CylindricalJoint
from os.path import join, dirname
minimal_filepath = join(dirname(__file__), "minimal.py")
p1 = anchorable_part_from_py_script(minimal_filepath)
p2 = p1.copy(new_name="p2")
j = CylindricalJoint(anchor=p1.anchors['top'], ty=10, tz=10)
a = Assembly(root_part=p1, name='a')
a.add_part(part_to_add=p2,
part_to_add_anchors=['top'],
receiving_parts=[p1],
receiving_parts_anchors=['top'],
links=[j])
j.set_joint(tx=10, rx=0)
__assembly__ = a
py_script_path=plate_with_holes_script)
print("Plate gn : %s" % plate_gn)
screws = [
anchorable_part_from_library(library_file_path=iso_4014_library_filepath,
part_id="ISO4014_M2_grade_Bx21")
for _ in range(4)
]
nuts = [
anchorable_part_from_library(library_file_path=iso_4032_library_filepath,
part_id="ISO4032_Nut_M2.0") for _ in range(4)
]
A = Assembly(root_part=plate_gn, name="Global assembly")
bolts = []
for i in range(4):
bolt = Assembly(root_part=screws[i], name="Bolt_%i" % i)
bolt.add_part(part_to_add=nuts[i],
part_to_add_anchors=['nut_top'],
receiving_parts=[screws[i]],
receiving_parts_anchors=['head_bottom'],
links=[
Joint(anchor=nuts[i].transformed_anchors['nut_top'],
tx=5 + 1.6)
])
bolts.append(bolt)
def make_front_suspension_assembly():
r"""Front suspension assembly creation"""
p1_0 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-BEARING-l54.7_d37_mm---.stepzip"))
p1_1 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-BEARING-l54.7_d37_mm---.stepzip"))
p2 = anchorable_part_from_stepzip(
r_("shelf/suspension/front/"
"CAR-SUSPENSION-FORK-320_44_270_mm---.stepzip"))
p3 = anchorable_part_from_stepzip(
r_("shelf/suspension/front/"
"CAR-SUSPENSION-LINK-28_23_124_mm---.stepzip"))
p4 = anchorable_part_from_stepzip(
r_("shelf/suspension/front/"
"CAR-DIRECTION-BALLHEAD-D23_d10_l70_mm---.stepzip"))
p5 = anchorable_part_from_stepzip(
r_("shelf/suspension/front/"
"CAR-SUSPENSION-HUB-107_212_84_mm---.stepzip"))
p6 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-DISCSUPPORT-117_117_70_mm---.stepzip"))
p7 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-AXLE-DISC-d227_h46_mm-STEEL--.stepzip"))
p8 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-CYLINDER-l320_d42---.stepzip"))
p9 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-PISTON-l381_d33_d16-STEEL--.stepzip"))
p10 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-HAT-102_40_70_mm---.stepzip"))
p11 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-HEAD-60_48_67_mm---.stepzip"))
p12 = anchorable_part_from_stepzip(
r_("shelf/suspension/common/"
"CAR-SUSPENSION-NECK-d28_l51_mm---.stepzip"))
front_suspension_assembly = Assembly(root_part=p2,
name="front_suspension_assembly")
front_suspension_assembly.add_part(
part_to_add=p1_0,
part_to_add_anchors=['wide_out'],
receiving_parts=[p2],
receiving_parts_anchors=['out1'],
links=[Joint(anchor=p2.transformed_anchors['out1'])])
front_suspension_assembly.add_part(
part_to_add=p1_1,
part_to_add_anchors=['wide_out'],
receiving_parts=[p2],
receiving_parts_anchors=['out2'],
links=[Joint(anchor=p2.transformed_anchors['out2'])])
front_suspension_assembly.add_part(
part_to_add=p3,
part_to_add_anchors=['main'],
receiving_parts=[p2],
receiving_parts_anchors=['in_inside'],
links=[Joint(anchor=p2.transformed_anchors['in_inside'], tx=-71.396)])
front_suspension_assembly.add_part(
part_to_add=p4,
part_to_add_anchors=['cone'],
receiving_parts=[p3],
receiving_parts_anchors=['perp'],
links=[Joint(anchor=p3.transformed_anchors['perp'], tx=6.2)])
front_suspension_assembly.add_part(
part_to_add=p5,
part_to_add_anchors=['ball'],
receiving_parts=[p4],
receiving_parts_anchors=['ball'],
links=[Joint(anchor=p4.transformed_anchors['ball'])])
front_suspension_assembly.add_part(
part_to_add=p8,
part_to_add_anchors=['side2_top'],
receiving_parts=[p5],
receiving_parts_anchors=['side1_top'],
links=[
Joint(anchor=p5.transformed_anchors['side1_top'],
rx=radians(180 - 14.556))
])
front_suspension_assembly.add_part(
part_to_add=p9,
part_to_add_anchors=['bottom'],
receiving_parts=[p8],
receiving_parts_anchors=['top'],
links=[Joint(anchor=p8.transformed_anchors['top'], tx=-216.148)])
front_suspension_assembly.add_part(
part_to_add=p12,
part_to_add_anchors=['bottom'],
receiving_parts=[p9],
receiving_parts_anchors=['top'],
links=[Joint(anchor=p9.transformed_anchors['top'], tx=1.24)])
front_suspension_assembly.add_part(
part_to_add=p11,
part_to_add_anchors=['bottom'],
receiving_parts=[p12],
receiving_parts_anchors=['bottom'],
links=[Joint(anchor=p12.transformed_anchors['bottom'])])
front_suspension_assembly.add_part(
part_to_add=p10,
part_to_add_anchors=['axis_bottom'],
receiving_parts=[p11],
receiving_parts_anchors=['wide_flat'],
links=[Joint(anchor=p11.transformed_anchors['wide_flat'])])
front_suspension_assembly.add_part(
part_to_add=p6,
part_to_add_anchors=['axis_drive'],
receiving_parts=[p5],
receiving_parts_anchors=['wheel_axis'],
links=[Joint(anchor=p5.transformed_anchors['wheel_axis'])])
front_suspension_assembly.add_part(
part_to_add=p7,
part_to_add_anchors=['inside'],
receiving_parts=[p6],
receiving_parts_anchors=['axis_disc'],
links=[Joint(anchor=p6.transformed_anchors['axis_disc'])])
return front_suspension_assembly