def assembly():
axle = sp.color('red')(
round_bar.volume(
diameter=axle_diameter, length=axle_length, center=True
)
)
sprocket_assy = spu.up(sprocket_pos)(
sp.color('green')(sp.rotate((180, 0, 0))(drive_sprocket.assembly()))
)
brake_disc_assy = spu.down(brake_disc_pos)(
sp.color('blue')(brake_disc.assembly())
)
wheels = [
sp.rotate([0, a, 0])(
spu.left(wheel_centre_distance / 2.)(
sp.color('cyan')(wheel.assembly())
)
) for a in [0, 180]
]
return sp.union()(
sp.rotate([0, 90,
0])(sp.union()(
axle,
sprocket_assy,
brake_disc_assy,
)),
wheels,
)
def model_right():
shape = sl.union()(
key_holes(),
connectors(),
thumb(),
thumb_connectors(),
)
s2 = sl.union()(
case_walls(),
screw_insert_outers(),
teensy_holder(),
usb_holder(),
)
s2 = sl.difference()(s2, rj9_space(), usb_holder_hole(),
screw_insert_holes())
shape = sl.union()(
shape,
s2,
rj9_holder(),
wire_posts(),
)
shape -= sl.translate([0, 0, -20])(sl.cube([350, 350, 40], center=True))
return shape
def get_shape(self, with_verts=False):
if with_verts:
shape = sl.union()(self.shape,
self.vertices_shape(),
self.unrotated_verts_shape(),
self.origin_marker(),
self.unrotated_origin_marker())
if self.cap is not None:
return sl.union()(shape, self.cap)
return shape
return self.shape
def plane_make_part3D(self, thepart, pconfig):
self.generate_part3D(thepart, pconfig)
# for cutout in thepart.cutouts3D:
# for c in cutout:
# thepart.border3D = thepart.border3D - c
subparts = []
for sp in thepart.parts:
if hasattr(sp, 'subpart') and sp.subpart:
self.make_part3D(sp, pconfig)
if hasattr(sp, 'border3D'):
subparts.append(sp.border3D)
if len(subparts):
if hasattr(thepart, 'border3D'):
thepart.border3D=solid.union()(thepart.border3D,*subparts)
else:
thepart.border3D=solid.union()(*subparts)
if not hasattr(thepart, 'border3D'):
return False
cutouts = [thepart.border3D]
for cutout in thepart.cutouts3D:
for c in cutout:
cutouts.append(c)
thepart.border3D = solid.difference()(*cutouts)
# 3D transformations can only be applied to parts, so we can just go up the tree
p = thepart
c=0
print p
while(p and type(p) is not Plane):# and (c==0 or not p.renderable() )):
p.rotations_to_3D()
if hasattr(p, 'transform') and p.transform is not None and p.transform is not False:
print p.transform
if 'matrix3D' in p.transform:
if type(p.transform['matrix3D'][0]) is list or type(p.transform['matrix3D'][0]) is Vec:
thepart.border3D=solid.translate([-p.transform['matrix3D'][0][0], -p.transform['matrix3D'][0][1],-p.transform['matrix3D'][0][2]])(thepart.border3D)
thepart.border3D=solid.multmatrix(m=p.transform['matrix3D'][1])(thepart.border3D)
thepart.border3D=solid.translate([p.transform['matrix3D'][0][0], p.transform['matrix3D'][0][1],p.transform['matrix3D'][0][2]])(thepart.border3D)
else:
thepart.border3D=solid.multmatrix(m=p.transform['matrix3D'])(thepart.border3D)
if 'rotate3D' in p.transform:
if type(p.transform['rotate3D'][0]) is list or type(p.transform['rotate3D'][0]) is Vec:
thepart.border3D=solid.translate([-p.transform['rotate3D'][0][0], -p.transform['rotate3D'][0][1],-p.transform['rotate3D'][0][2]])(thepart.border3D)
thepart.border3D=solid.rotate([p.transform['rotate3D'][1][0], p.transform['rotate3D'][1][1],p.transform['rotate3D'][1][2] ])(thepart.border3D)
thepart.border3D=solid.translate([p.transform['rotate3D'][0][0], p.transform['rotate3D'][0][1],p.transform['rotate3D'][0][2]])(thepart.border3D)
else:
thepart.border3D=solid.rotate([p.transform['rotate3D'][0], p.transform['rotate3D'][1],p.transform['rotate3D'][2] ])(thepart.border3D)
if 'translate3D' in p.transform:
thepart.border3D=solid.translate([p.transform['translate3D'][0], p.transform['translate3D'][1],p.transform['translate3D'][2] ])(thepart.border3D)
c+=1
p=p.parent
def plane_make_part3D(self, thepart, pconfig):
self.generate_part3D(thepart, pconfig)
# for cutout in thepart.cutouts3D:
# for c in cutout:
# thepart.border3D = thepart.border3D - c
subparts = []
for sp in thepart.parts:
if hasattr(sp, 'subpart') and sp.subpart:
self.make_part3D(sp, pconfig)
if hasattr(sp, 'border3D'):
subparts.append(sp.border3D)
if len(subparts):
if hasattr(thepart, 'border3D'):
thepart.border3D=solid.union()(thepart.border3D,*subparts)
else:
thepart.border3D=solid.union()(*subparts)
if not hasattr(thepart, 'border3D'):
return False
cutouts = [thepart.border3D]
for cutout in thepart.cutouts3D:
for c in cutout:
cutouts.append(c)
thepart.border3D = solid.difference()(*cutouts)
# 3D transformations can only be applied to parts, so we can just go up the tree
p = thepart
c=0
while(p and type(p) is not Plane):# and (c==0 or not p.renderable() )):
p.rotations_to_3D()
if hasattr(p, 'transform') and p.transform is not None and p.transform is not False:
if 'matrix3D' in p.transform:
if type(p.transform['matrix3D'][0]) is list or type(p.transform['matrix3D'][0]) is Vec:
thepart.border3D=solid.translate([-p.transform['matrix3D'][0][0], -p.transform['matrix3D'][0][1],-p.transform['matrix3D'][0][2]])(thepart.border3D)
thepart.border3D=solid.multmatrix(m=p.transform['matrix3D'][1])(thepart.border3D)
thepart.border3D=solid.translate([p.transform['matrix3D'][0][0], p.transform['matrix3D'][0][1],p.transform['matrix3D'][0][2]])(thepart.border3D)
else:
thepart.border3D=solid.multmatrix(m=p.transform['matrix3D'])(thepart.border3D)
if 'rotate3D' in p.transform:
if type(p.transform['rotate3D'][0]) is list or type(p.transform['rotate3D'][0]) is Vec:
thepart.border3D=solid.translate([-p.transform['rotate3D'][0][0], -p.transform['rotate3D'][0][1],-p.transform['rotate3D'][0][2]])(thepart.border3D)
thepart.border3D=solid.rotate([p.transform['rotate3D'][1][0], p.transform['rotate3D'][1][1],p.transform['rotate3D'][1][2] ])(thepart.border3D)
thepart.border3D=solid.translate([p.transform['rotate3D'][0][0], p.transform['rotate3D'][0][1],p.transform['rotate3D'][0][2]])(thepart.border3D)
else:
thepart.border3D=solid.rotate([p.transform['rotate3D'][0], p.transform['rotate3D'][1],p.transform['rotate3D'][2] ])(thepart.border3D)
if 'translate3D' in p.transform:
thepart.border3D=solid.translate([p.transform['translate3D'][0], p.transform['translate3D'][1],p.transform['translate3D'][2] ])(thepart.border3D)
c+=1
p=p.parent
def create_model(data, rows, columns):
hexes = to_base(int.from_bytes(data, 'big'), 720)
assert len(hexes) == rows * columns
sts = []
for row in range(rows):
for col in range(columns):
order = permute.permute([1, 2, 3, 4, 5, 6], hexes[row * 9 + col])
heights = [1 + 1.5 * i / len(order) for i in order]
st = stump(heights)
xdiff = 1.5 * col
xdiff *= 1.2
ydiff = (-3**0.5) * row - (3**0.5 / 2) * col
ydiff *= 1.2
st = solid.translate([xdiff, ydiff, 0])(st)
sts.append(st)
base = solid.translate([-3.4, -3.2, 0])(solid.rotate([0, 0, -30])(
solid.scale([22, 6.5, 0.3])(solid.cube(1))))
x, y = 0.5, (3**0.5 / 2) / 2
marker = solid.translate([-1.5, -2.5, 0])(
solid.polyhedron(
points=[
# bottom
(-x, -y, 0),
(x, -y, 0),
(0, y, 0),
# top
(-x, -y, 1),
(x, -y, 1),
(0, y, 1)
],
faces=[
# bottom
(0, 1, 2),
# top
(5, 4, 3),
# sides
(0, 3, 4, 1),
(1, 4, 5, 2),
(2, 5, 3, 0)
]))
return solid.union()([base, solid.union()(sts), marker])
def create_cutouts(solder_paste, increase_hole_size_by=0.0):
solder_paste.to_metric()
cutout_shapes = []
cutout_lines = []
apertures = {}
current_aperture = None
current_x = None
current_y = None
for statement in solder_paste.statements:
if statement.type == 'PARAM' and statement.param == 'AD': # define aperture
apertures[statement.d] = {
'shape': statement.shape,
'modifiers': statement.modifiers
}
elif statement.type == 'APERTURE':
current_aperture = statement.d
elif statement.type == 'COORD' and statement.op == 'D3': # flash object coordinates
if not current_aperture:
raise Exception("No aperture set on flash object coordinates!")
aperture = apertures[current_aperture]
current_x = statement.x if statement.x is not None else current_x
current_y = statement.y if statement.y is not None else current_y
if aperture['shape'] == 'C': # circle
cutout_shapes.append(
primitive_to_shape(
primitives.Circle(diameter=aperture['modifiers'][0][0],
position=[current_x, current_y])))
elif aperture['shape'] == 'R': # rectangle
width, height = aperture['modifiers'][0]
cutout_shapes.append(
primitive_to_shape(
primitives.Rectangle(
position=[current_x, current_y],
width=width,
height=height,
)))
else:
raise NotImplementedError(
"Only circular and rectangular flash objects are supported!"
)
for p in solder_paste.primitives:
shape = primitive_to_shape(p)
if len(shape) > 2:
cutout_shapes.append(shape)
else:
cutout_lines.append(shape)
# If the cutouts contain lines we try to first join them together into shapes
cutout_shapes += lines_to_shapes(cutout_lines)
polygons = []
for shape in cutout_shapes:
if increase_hole_size_by and len(shape) > 2:
shape = offset_shape(shape, increase_hole_size_by)
polygons.append(polygon([[x, y] for x, y in shape]))
return union()(*polygons)
def connectors():
hulls = []
for column in range(ncols - 1):
for row in range(lastrow): # need to consider last_row?
# for row in range(nrows): # need to consider last_row?
places = []
places.append(key_place(web_post_tl(), column + 1, row))
places.append(key_place(web_post_tr(), column, row))
places.append(key_place(web_post_bl(), column + 1, row))
places.append(key_place(web_post_br(), column, row))
hulls.append(triangle_hulls(places))
for column in range(ncols):
# for row in range(nrows-1):
for row in range(cornerrow):
places = []
places.append(key_place(web_post_bl(), column, row))
places.append(key_place(web_post_br(), column, row))
places.append(key_place(web_post_tl(), column, row + 1))
places.append(key_place(web_post_tr(), column, row + 1))
hulls.append(triangle_hulls(places))
for column in range(ncols - 1):
# for row in range(nrows-1): # need to consider last_row?
for row in range(cornerrow): # need to consider last_row?
places = []
places.append(key_place(web_post_br(), column, row))
places.append(key_place(web_post_tr(), column, row + 1))
places.append(key_place(web_post_bl(), column + 1, row))
places.append(key_place(web_post_tl(), column + 1, row + 1))
hulls.append(triangle_hulls(places))
return sl.union()(*hulls)
def thumb_1x_layout(shape):
return sl.union()(
thumb_mr_place(shape),
thumb_ml_place(shape),
thumb_br_place(shape),
thumb_bl_place(shape),
)
def teensy_holder():
s1 = sl.cube([3, teensy_holder_length, 6 + teensy_width], center=True)
s1 = sl.translate([1.5, teensy_holder_offset, 0])(s1)
s2 = sl.cube([teensy_pcb_thickness, teensy_holder_length, 3], center=True)
s2 = sl.translate([
(teensy_pcb_thickness / 2) + 3,
teensy_holder_offset,
-1.5 - (teensy_width / 2),
])(s2)
s3 = sl.cube([teensy_pcb_thickness, teensy_holder_top_length, 3],
center=True)
s3 = sl.translate([
(teensy_pcb_thickness / 2) + 3,
teensy_holder_top_offset,
1.5 + (teensy_width / 2),
])(s3)
s4 = sl.cube([4, teensy_holder_top_length, 4], center=True)
s4 = sl.translate([
teensy_pcb_thickness + 5, teensy_holder_top_offset,
1 + (teensy_width / 2)
])(s4)
shape = sl.union()(s1, s2, s3, s4)
shape = sl.translate([-teensy_holder_width, 0, 0])(shape)
shape = sl.translate([-1.4, 0, 0])(shape)
shape = sl.translate(
[teensy_top_xy[0], teensy_top_xy[1] - 1,
(6 + teensy_width) / 2])(shape)
return shape
def assembly():
return sp.union()(
sp.color('red')(spu.left(100.)(wheel.volume())),
sp.color('green')(left_stub_axle.volume()),
sp.color('blue')(spu.left(58.)(sp.rotate(
(0., -90., 0.))(wheel_bushing.volume()))),
)
def flat_cap(x, y, z, r, recess=0):
"""flat_cap
x, y, z cap dimensions
r (int): radius for rounded edges
recess: decimal, percent of cap to remove
"""
cap = rounded_cube(x, y, z, r)
if recess > 0:
if recess < 1:
insert = rounded_cube(x * recess,
y * recess, (z * recess) - 0.5,
r,
center=True)
cap = s.difference()(cap,
s.translate([0, 0,
z - (z * recess) + 0.5])(insert))
else:
raise ValueError(f"recess should be a decimal between 0 and 1")
out = s.union()(cap, mx_post(6, z / 2))
return out
def tetrahedron():
""" Creates a ball-and-stick model of a geodesic sphere based off of an tetrahedron,
highlighting vertices of valence 3 """
(vs, es, fs) = geo.sphere(v=3, base=geo.tetrahedron_vertices)
vms = geo.vertex_matrices(vs)
ems = geo.edge_matrices(es, vs)
els = geo.edge_lengths(es, vs)
ves = geo.vertex_edges(es)
highlight_valence = 3
def shape_at_vertex(m, ve):
shape = solid.sphere(r=0.05)
if len(ve) == highlight_valence:
shape = solid.color("red")(shape)
return solid.multmatrix(m)(shape)
def shape_at_edge(m, el, e):
shape = solid.cylinder(r1=0.03, r2=0.03, h=el, center=True)
if any(len(ves[i]) == highlight_valence for i in e):
shape = solid.color("red")(shape)
return solid.multmatrix(m)(solid.utils.rot_z_to_right(shape))
shape = solid.union()(
*[shape_at_vertex(m, ve) for m, ve in zip(vms, ves)],
*[shape_at_edge(m, el, e) for m, el, e in zip(ems, els, es)])
return shape
def spaceship_earth():
""" Creates a model of EPCOT's spaceship earth """
(vs, es, fs) = geo.sphere(v=8)
fms = geo.face_matrices(fs, vs)
fts = geo.face_triangles_2d(fs, vs, fms)
def shape_at_face(m, ft):
center = np.array([0, 0])
panel1 = np.vstack((ft[0], ft[1], center))
panel2 = np.vstack((ft[1], ft[2], center))
panel3 = np.vstack((ft[2], ft[0], center))
panel_angle = 20
def panel_shape(panel_tri):
edge_midpoint = 0.5 * (panel_tri[0] + panel_tri[1])
rotation_vector = panel_tri[1] - panel_tri[0]
transform = lambda x: solid.translate(
edge_midpoint)(solid.rotate(a=panel_angle, v=rotation_vector)
(solid.translate(-edge_midpoint)(x)))
return transform(
solid.linear_extrude(0.01)(solid.polygon(panel_tri * 0.9)))
return solid.multmatrix(m)(
solid.union()(*[panel_shape(p) for p in (panel1, panel2, panel3)]))
inner_radius = np.mean(np.linalg.norm(np.array(fms)[:, 0:3, 3], axis=1))
return solid.union()(solid.sphere(r=inner_radius, segments=FN * 4),
*[shape_at_face(m, ft) for m, ft in zip(fms, fts)])
def assembly():
column = tube.volume(diameter=column_diameter, wall_thickness=2., length=column_length)
return sp.union()(
spu.up(column_length)(
spu.up(wheel.plate_thickness / 2.)(
sp.color('red')(wheel.volume()),
spu.up(wheel.plate_thickness / 2.)(
sp.color('green')(instrument_panel.assembly())
),
sp.translate((150, 80))(
sp.rotate((0., 60., 0.))(
sp.color('blue')(throttle.assembly())
)
),
),
sp.rotate((0, 180, 0))(sp.color('cyan')(wheel_mount.volume())),
),
sp.color('magenta')(column),
spu.up(440.)(sp.color('purple')(column_mount.upper.assembly())),
spu.up(60.)(sp.color('grey')(column_mount.lower.assembly())),
sp.rotate((0, 0, 0))(
sp.color('orange')(arm_mount.volume()),
sp.color('pink')(spu.down(arm.thickness)(arm.volume())),
),
)
def volume():
base = spu.up(base_height / 2.)(
sp.cube([width, base_length, base_height], center=True)
)
mounting_holes = spu.down(1)(
place_at_centres(
[0, mounting_hole_centres],
sp.cylinder(d=mounting_hole_diameter, h=base_height + 2)
)
)
base -= mounting_holes
bearing = spu.up(shaft_height)(
sp.rotate([0, 90, 0])(
sp.cylinder(d=60, h=width, center=True) -
sp.cylinder(d=shaft_diameter, h=width + 1, center=True)
)
)
return sp.union()(
base,
bearing,
)
def single_plate(cylinder_segments=100):
top_wall = sl.cube([keyswitch_width + 3, 1.5, plate_thickness],
center=True)
top_wall = sl.translate(
(0, (1.5 / 2) + (keyswitch_height / 2), plate_thickness / 2))(top_wall)
left_wall = sl.cube([1.5, keyswitch_height + 3, plate_thickness],
center=True)
left_wall = sl.translate(
((1.5 / 2) + (keyswitch_width / 2), 0, plate_thickness / 2))(left_wall)
side_nub = sl.cylinder(1, 2.75, segments=cylinder_segments, center=True)
side_nub = sl.rotate(rad2deg(pi / 2), [1, 0, 0])(side_nub)
side_nub = sl.translate((keyswitch_width / 2, 0, 1))(side_nub)
nub_cube = sl.cube([1.5, 2.75, plate_thickness], center=True)
nub_cube = sl.translate(
((1.5 / 2) + (keyswitch_width / 2), 0, plate_thickness / 2))(nub_cube)
side_nub = sl.hull()(side_nub, nub_cube)
plate_half1 = top_wall + left_wall + side_nub
plate_half2 = plate_half1
plate_half2 = sl.mirror([0, 1, 0])(plate_half2)
plate_half2 = sl.mirror([1, 0, 0])(plate_half2)
plate = plate_half1 + plate_half2
if plate_file is not None:
socket = sl.import_(plate_file)
socket = sl.translate([0, 0, plate_offset])(socket)
plate = sl.union()(plate, socket)
return plate
def platform(width, length, height):
foot = end(width)
head = translate((0, length, 0))(mirror((0, 1, 0))(foot))
slats = union()(
[translate((0, y, 0))(slat(width)) for y in range(0, 70, 7)])
return (platform_color(head) + platform_color(foot) +
platform_color(translate((0, 6.5, 0))(slats)))
def single_slice(index):
for slice_num, (lower, upper) in enumerate(slice_parameters()):
if slice_num == index:
return solid.translate([0, 0, upper - lower])(
solid.rotate([0, 180, 0])(
solid.union()(*produce_slice(lower, upper))
))
raise Exception("Non-existent slice %i, max: %i!" % (index, slice_num))
def full_cone():
cylinders = []
for slice_num, (lower, upper) in enumerate(slice_parameters()):
cylinders.extend(produce_slice(lower, upper, mdf_strength * slice_num))
return solid.translate([0, 0, cone_length])(
solid.rotate([0, 180, 0])(
solid.union()(*cylinders)
)
)
def slice_sim(slices, t_m=3.0):
""" Returns simulation of assembled slice-formed solid.
Args:
slices ([PolyLine]): list of PolyLines to simulate.
t_m (float): material thickness
Returns:
A PolyMesh representing the assembled slices.
"""
# assume stacked in the z dimension
axis = np.array([0, 0, 1])
slice_solids = []
for (i, slice) in enumerate(slices):
translation = list(t_m * axis * i)
slice_solid = sl.linear_extrude(t_m)(slice.get_generator())
positioned_solid = sl.translate(translation)(slice_solid)
slice_solids.append(positioned_solid)
return PolyMesh(generator=sl.union()(slice_solids))
def create_cutouts(solder_paste, increase_hole_size_by=0.0):
solder_paste.to_metric()
cutout_shapes = []
cutout_lines = []
for p in solder_paste.primitives:
shape = primitive_to_shape(p)
if len(shape) > 2:
cutout_shapes.append(shape)
else:
cutout_lines.append(shape)
# If the cutouts contain lines we try to first join them together into shapes
cutout_shapes += lines_to_shapes(cutout_lines)
polygons = []
for shape in cutout_shapes:
if increase_hole_size_by and len(shape) > 2:
shape = offset_shape(shape, increase_hole_size_by)
polygons.append(polygon([[x, y] for x, y in shape]))
return union()(*polygons)
def __init__(self, **kwargs):
if 'name' not in kwargs.keys():
kwargs['name'] = 'klann'
if 'elts' not in kwargs.keys():
#create
O, A,B, C, D, E, F,M, b1,b2,b3,b4,conn = create_klann_geometry()
pos_A, neg_A = joint_from_point(A,"A",1)
pos_B, neg_B = joint_from_point(B,"B",1)
pos_C, neg_C = joint_from_point(C,"C",1)
pos_D, neg_D = joint_from_point(D,"D",1)
pos_E, neg_E = joint_from_point(E,"E",1)
pos_F, neg_F = joint_from_point(F,"F",1)
pos_M, neg_M = joint_from_point(M,"M",1)
pos_O, neg_O = joint_from_point(O,"O",1)
b1_body = rationalize_segment(b1,[neg_M, neg_C, neg_D],"b1")
b2_body = rationalize_segment(b2,[neg_B, neg_E],"b2")
b3_body = rationalize_segment(b3, [neg_A,pos_C],"b3")
b4_body = rationalize_segment(b4, [pos_E,pos_D], "b4")
conn = rationalize_segment(conn, [neg_O, pos_M], "conn" )
# #create servo mount that connects to shaft connector
b, j, c = create_klann_part(1,1, "1")
A,_,B = j
mt, m_attach, _ = create_servo_mount()
# #add support for A,B
mount_thickness= 3 # shaft coupler
layer_thickness = 3
#O, A,B, C, D, E, F,M, b1,b2,b3,b4,conn = create_klann_geometry()
##create the attacher thing, with joints
A_bar, a_attach = create_support_bar(A,mount_thickness)
B_bar, b_attach = create_support_bar(B,mount_thickness + layer_thickness)
m_attach_gen = m_attach.get_generator()
a_gen = a_attach.get_generator()
b_gen = b_attach.get_generator()
a_join = solid.hull()(m_attach_gen, a_gen)
b_join = solid.hull()(m_attach_gen, b_gen)
cronenberg = PolyMesh(generator= solid.union()(a_join,b_join))
aparatus = cronenberg + A_bar + B_bar + mt
shaft_conn = create_shaft_connector()
OT = (0, 0, 0)
OQ = (0, 0, 1, 0)
OP = (OT, OQ)
bt_pos, bt_neg = joint_from_point(B,"B",2)
torso = Body(
pose = OP,
joints=[
pos_A,
pos_O, bt_pos
],
elts=[Layer(
aparatus,
name='lol',
color='yellow',
)],
name='torso'
)
coupler = Body(
pose = OP,
joints = [pos_O],
elts = [Layer(shaft_conn, name='lol', color = 'blue')],
name = 'coupler'
)
kwargs['elts'] = [coupler, b1_body, b2_body, b3_body, b4_body, conn,torso]#[torso]
#kwargs['children'] = [torso]
if 'connections' not in kwargs.keys():
kwargs['connections'] = [
((0, 'torso', 'A'),(0, 'b3', 'A')),
((0, 'torso', 'B'),(0, 'b2', 'B')),
((0,'torso', 'O'),(0, 'conn', 'O')),
((0, 'conn','M'),(0,'b1', 'M')),
((0,'b1','C'),(0,'b3','C')),
((0,'b1','D'), (0,'b4','D')),
((0,'b2','E'),(0,'b4','E')),
((0,'conn', 'O'), (0,'coupler', 'O'))
]
super(KlannLinkage, self).__init__(**kwargs)
def __init__(self, **kwargs):
if 'name' not in kwargs.keys():
kwargs['name'] = 'klann'
if 'elts' not in kwargs.keys():
#create
b1, j1, c1 = create_klann_part(1,1, "1",True)
b2, j2, c2 = create_klann_part(1, 1+ np.pi/2, "2", True)
# print(conn.joints)
A1,_,B1 = j1
A2,_,B2 = j2
# A1 = voffset_joint(A1,-3, "1A")
# B1 = voffset_joint(B1,0,"1B")
link_bodies = b1+b2
link_conns = c1+c2
# # #create servo mount that connects to shaft connector
mt, m_attach1, m_attach2 = create_servo_mount()
# # #add support for A,B
mount_thickness= 6 # shaft coupler
layer_thickness = 15
#
# ##create the attacher thing, with joints
#first layer of standoffs
st_body1,anch1 = standoff(mount_thickness) #contains joint "anchor"
st_body2,anch2 = standoff(mount_thickness)
st_body3,_ = standoff(layer_thickness) #contains joint "anchor"
st_body4,_ = standoff(layer_thickness)
st_conn1 = ((0,"1b3","1A"),(0,st_body1.name, "A"))
st_conn2 = ((0,"1b2","1B"),(0,st_body2.name, "A"))
#second layer:
st_conn3 = ((0,"2b3", "2A"),(0,st_body3.name, "A"))
st_conn4 = ((0,"2b2", "2B"),(0,st_body4.name, "A"))
#A1_bar, a1_attach = create_support_bar(A1,mount_thickness)
#B1_bar, b1_attach = create_support_bar(B1,mount_thickness + layer_thickness)
#
m_attach1_gen = m_attach1.get_generator()
# b1_gen = b1_attach.get_generator()
#
((dxa,dya,_),_) = A1.pose
((dxb,dyb,_),_) = B1.pose
placed_anch1 = solid.translate([dxa,dya,0])(anch1)
placed_anch2 = solid.translate([dxb,dyb,0])(anch2)
a1_join = solid.hull()(m_attach1_gen, placed_anch1)
b1_join = solid.hull()(m_attach1_gen, placed_anch2)
#
cronenberg1 = PolyMesh(generator= solid.union()(a1_join,b1_join))
aparatus = cronenberg1 +mt
shaft_conn = create_shaft_connector()
OT = (0, 0, 0)
OQ = (0, 0, 1, 0)
OP = (OT, OQ)
pos_O, neg_O = joint_from_point(Point(0,0), "1O", 1)
O_3, _ = joint_from_point(Point(0,0),"3O",5)
torso = Body(
pose = OP,
joints = [pos_O, A1, B1],
elts=[Layer(
aparatus,
name='lol',
color='yellow',
)],
name='torso'
)
coupler = Body(
pose = OP,
joints = [pos_O,O_3],
elts = [Layer(shaft_conn, name='lol', color = 'blue')],
name = 'coupler'
)
kwargs['elts'] = link_bodies+ [coupler]#, st_body1, st_body2, st_body3, st_body4]#,torso]#[torso] [conn,torso]+ , [coupler]+ conn coupler,
#kwargs['children'] = [torso]
if 'connections' not in kwargs.keys():
kwargs['connections'] = [
((0, '1conn', '1O'),(0,'coupler','1O')),
((0, 'coupler', '3O'),(0, '2conn','2O'))
#st_conn1,
#st_conn2,
#st_conn3,
#st_conn4
#((0, 'torso', '2O'),(0, 'conn','2O')),
# ((0, 'torso', '1A'),(0, '1b3', '1A')),
# ((0, 'torso', '1B'),(0, '1b2', '1B')),
#((0, 'torso', '2A'),(0, '2b3', '2A')),
#((0, 'torso', '2B'),(0, '2b2', '2B'))
] + link_conns
super(DoubleDeckerKlannLinkage, self).__init__(**kwargs)
def __init__(self, **kwargs):
if 'name' not in kwargs.keys():
kwargs['name'] = 'klann'
if 'elts' not in kwargs.keys():
#create
b1, j1, c1 = create_klann_part(1,1, "1")
b2, j2, c2 = create_klann_part(-1, 1, "2") # + np.pi
conn1 = b1.pop()
conn2 = b2.pop()
conn = combine_connectors(conn1,conn2)
# print(conn.joints)
A1,_,B1 = j1
A1 = voffset_joint(A1,-3, "1A")
B1 = voffset_joint(B1,0,"1B")
A2,_,B2 = j2
A2 = voffset_joint(A2, -9, "2A")
B2 = voffset_joint(B2, -6, "2B")
link_bodies = b1+b2 +[conn]
link_conns = c1+c2
# #create servo mount that connects to shaft connector
mt, m_attach1, m_attach2 = create_servo_mount()
# #add support for A,B
mount_thickness= 3 # shaft coupler
layer_thickness = 3
##create the attacher thing, with joints
A1_bar, a1_attach = create_support_bar(A1,mount_thickness)
B1_bar, b1_attach = create_support_bar(B1,mount_thickness)
m_attach1_gen = m_attach1.get_generator()
a1_gen = a1_attach.get_generator()
b1_gen = b1_attach.get_generator()
a1_join = solid.hull()(m_attach1_gen, a1_gen)
b1_join = solid.hull()(m_attach1_gen, b1_gen)
cronenberg1 = PolyMesh(generator= solid.union()(a1_join,b1_join))
# A2_bar, a2_attach = create_support_bar(A2,mount_thickness)
# B2_bar, b2_attach = create_support_bar(B2,mount_thickness)
#
# m_attach2_gen = m_attach2.get_generator()
# a2_gen = a2_attach.get_generator()
# b2_gen = b2_attach.get_generator()
#
# a2_join = solid.hull()(m_attach2_gen, a2_gen)
# b2_join = solid.hull()(m_attach2_gen, b2_gen)
# cronenberg2 = PolyMesh(generator= solid.union()(a2_join,b2_join))
aparatus = cronenberg1 + A1_bar + B1_bar + mt #+ cronenberg2 + A2_bar + B2_bar
shaft_conn = create_shaft_connector()
OT = (0, 0, 0)
OQ = (0, 0, 1, 0)
OP = (OT, OQ)
pos_O, neg_O = joint_from_point(Point(0,0), "1O", 1)
torso = Body(
pose = OP,
joints = [pos_O, A2, B2, A1, B1],
elts=[Layer(
aparatus,
name='lol',
color='yellow',
)],
name='torso'
)
coupler = Body(
pose = OP,
joints = [pos_O],
elts = [Layer(shaft_conn, name='lol', color = 'blue')],
name = 'coupler'
)
kwargs['elts'] = [torso]+ link_bodies#[torso] , conn coupler,
#kwargs['children'] = [torso]
if 'connections' not in kwargs.keys():
kwargs['connections'] = [
#((0, 'conn', '1O'),(0,'coupler','1O')),
#((0, 'torso', '1O'),(0, 'conn','1O')),
#((0, 'torso', '2O'),(0, 'conn','2O')),
((0, 'torso', '1A'),(0, '1b3', '1A')),
((0, 'torso', '1B'),(0, '1b2', '1B')),
((0, 'torso', '2A'),(0, '2b3', '2A')),
((0, 'torso', '2B'),(0, '2b2', '2B'))
] + link_conns
super(DoubleKlannLinkage, self).__init__(**kwargs)
def __init__(self, **kwargs):
if 'name' not in kwargs.keys():
kwargs['name'] = 'klann'
if 'elts' not in kwargs.keys():
#create
##################################################
##################################################
b1, j1, c1 = create_klann_part(1,1, "1")
b2, j2, c2 = create_klann_part(-1, 1+ np.pi, "2")
conn1 = b1.pop()
conn2 = b2.pop()
conn = combine_connectors(conn1,conn2)
# print(conn.joints)
A1,_,B1 = j1
A1 = voffset_joint(A1,-3, "1A")
B1 = voffset_joint(B1,0,"1B")
A2,_,B2 = j2
A2 = voffset_joint(A2, -9, "2A")
B2 = voffset_joint(B2, -6, "2B")
link_bodies = b1+b2 +[conn]
link_conns = c1+c2
# #create servo mount that connects to shaft connector
mt, m_attach1, m_attach2 = create_servo_mount()
# #add support for A,B
mount_thickness= 3 # shaft coupler
layer_thickness = 3
##create the attacher thing, with joints
A1_bar, a1_attach = create_support_bar(A1,mount_thickness)
B1_bar, b1_attach = create_support_bar(B1,mount_thickness)
m_attach1_gen = m_attach1.get_generator()
a1_gen = a1_attach.get_generator()
b1_gen = b1_attach.get_generator()
a1_join = solid.hull()(m_attach1_gen, a1_gen)
b1_join = solid.hull()(m_attach1_gen, b1_gen)
cronenberg1 = PolyMesh(generator= solid.union()(a1_join,b1_join))
A2_bar, a2_attach = create_support_bar(A2,mount_thickness)
B2_bar, b2_attach = create_support_bar(B2,mount_thickness)
m_attach2_gen = m_attach2.get_generator()
a2_gen = a2_attach.get_generator()
b2_gen = b2_attach.get_generator()
a2_join = solid.hull()(m_attach2_gen, a2_gen)
b2_join = solid.hull()(m_attach2_gen, b2_gen)
cronenberg2 = PolyMesh(generator= solid.union()(a2_join,b2_join))
aparatus = cronenberg1 + A1_bar + B1_bar + mt + cronenberg2 + A2_bar + B2_bar
OT = (0, 0, 0)
OQ = (0, 0, 1, 0)
OP = (OT, OQ)
pos_O, neg_O = joint_from_point(Point(0,0), "1O", 1)
torso = Body(
pose = OP,
joints = [pos_O, A2, B2, A1, B1],
elts=[Layer(
aparatus,
name='lol',
color='yellow',
)],
name='torso'
)
# coupler = Body(
# pose = OP,
# joints = [pos_O],
# elts = [Layer(shaft_conn, name='lol', color = 'blue')],
# name = 'coupler'
# )
# kwargs['elts'] = [torso]+ link_bodies#[torso] , conn coupler,
#kwargs['children'] = [torso]
##################################################
#b3, j3, c3 = create_klann_part(-1,1+ np.pi/2, "3")
b4, j4, c4 = create_klann_part(1, 1+ np.pi/2, "4", True)
# print(conn.joints)
#A3,_,B3 = j3
A4,_,B4 = j4
link_bodies = b4+link_bodies
link_conns = c4+link_conns
# # #create servo mount that connects to shaft connector
#mt, m_attach1, m_attach2 = create_servo_mount()
# # #add support for A,B
mount_thickness= 6 # shaft coupler
layer_thickness = 15
#
# ##create the attacher thing, with joints
#first layer of standoffs
#st_body1,anch1 = standoff(mount_thickness) #contains joint "anchor"
#st_body2,anch2 = standoff(mount_thickness)
st_body3,_ = standoff(layer_thickness) #contains joint "anchor"
st_body4,_ = standoff(layer_thickness)
#st_conn1 = ((0,"1b3","1A"),(0,st_body1.name,"A"))
#st_conn2 = ((0,"1b2","1B"),(0,st_body2.name,"A"))
#second layer:
st_conn3 = ((0,"4b3", "4A"),(0,st_body3.name, "A"))
st_conn4 = ((0,"4b2", "4B"),(0,st_body4.name, "A"))
#A1_bar, a1_attach = create_support_bar(A1,mount_thickness)
#B1_bar, b1_attach = create_support_bar(B1,mount_thickness + layer_thickness)
#
#m_attach1_gen = m_attach1.get_generator()
# b1_gen = b1_attach.get_generator()
#((dxa,dya,_),_) = A1.pose
#((dxb,dyb,_),_) = B1.pose
#placed_anch1 = solid.translate([dxa,dya,0])(anch1)
#placed_anch2 = solid.translate([dxb,dyb,0])(anch2)
#a1_join = solid.hull()(m_attach1_gen, placed_anch1)
#b1_join = solid.hull()(m_attach1_gen, placed_anch2)
#cronenberg1 = PolyMesh(generator= solid.union()(a1_join,b1_join))
#aparatus = cronenberg1 +mt
shaft_conn = create_shaft_connector()
OT = (0, 0, 0)
OQ = (0, 0, 1, 0)
OP = (OT, OQ)
pos_O, neg_O = joint_from_point(Point(0,0), "1O", 1)
O_3, _ = joint_from_point(Point(0,0),"3O",5)
# torso = Body(
# pose = OP,
# joints = j1+j2,
# elts=[Layer(
# aparatus,
# name='lol',
# color='yellow',
# )],
# name='torso'
# )
coupler = Body(
pose = OP,
joints = [pos_O,O_3],
elts = [Layer(shaft_conn, name='lol', color = 'blue')],
name = 'coupler'
)
kwargs['elts'] = link_bodies+ [coupler, st_body3, st_body4,torso]#[torso] [conn,torso]+ , [coupler]+ conn coupler,
#kwargs['children'] = [torso]
if 'connections' not in kwargs.keys():
kwargs['connections'] = [
#((0, 'conn', '1O'),(0,'coupler','1O')),
#((0, 'coupler', '3O'),(0, '4conn','4O')), # 4O?
#st_conn1,
#st_conn2,
st_conn3,
st_conn4,
# ((0, 'torso', '1O'),(0, 'coupler','1O')),
((0, 'torso', '1A'),(0, '1b3', '1A')),
((0, 'torso', '1B'),(0, '1b2', '1B')),
((0, 'torso', '2A'),(0, '2b3', '2A')),
((0, 'torso', '2B'),(0, '2b2', '2B'))
] + link_conns
super(DoubleDoubleDeckerKlannLinkage, self).__init__(**kwargs)
def test_linearizer():
O,A,B,C,D,E,F,M,b1,b2,b3,b4,conn = create_klann_geometry(1,1)
b1_dict = {b1: [M,D,C]}
b2_dict = {b2: [B,E]}
b3_dict = {b3: [A,C]}
b4_dict = {b4:[E,D,F]}
conn_dict = {conn: [M,O]}
O2,A2,B2,C2,D2,E2,F2,M2,b12,b22,b32,b42,conn2 = create_klann_geometry(-1,1)
b1_dict2 = {b12: [M2,D2,C2]}
b2_dict2 = {b22: [B2,E2]}
b3_dict2 = {b32: [A2,C2]}
b4_dict2 = {b42:[E2,D2,F2]}
O3,A3,B3,C3,D3,E3,F3,M3,b13,b23,b33,b43,conn3 = create_klann_geometry(1,1 + np.pi)
b1_dict3 = {b13: [M3,D3,C3]}
b2_dict3 = {b23: [B3,E3]}
b3_dict3 = {b33: [A3,C3]}
b4_dict3 = {b43:[E3,D3,F3]}
O4,A4,B4,C4,D4,E4,F4,M4,b14,b24,b34,b44,conn4 = create_klann_geometry(-1,1 + np.pi)
b1_dict4 = {b14: [M4,D4,C4]}
b2_dict4 = {b24: [B4,E4]}
b3_dict4 = {b34: [A4,C4]}
b4_dict4 = {b44:[E4,D4,F4]}
conn_dict4 = {conn4:[M4,O4]}
# seg_paths = simulate_linkage_path(1,1)
# seg_paths2 = simulate_linkage_path(-1,1)
# seg_paths3 = simulate_linkage_path(1,1+np.pi)
# seg_paths4 = simulate_linkage_path(-1,1+np.pi)
# seg_paths.update(seg_paths2)
# seg_paths.update(seg_paths3)
# seg_paths.update(seg_paths4)
# print("generated Geometry")
#
# seg_confs = seg_conflicts(seg_paths)
# print("calculated conflicts")
#
# #add gear conflicts and joints
gear = Segment(M,M3)
cap = Segment(M3,M3)
# seg_confs[b1]+=[gear]
# seg_confs[b12]+=[gear]
# seg_confs[b13]+=[gear]
# seg_confs[b14]+=[gear]
# seg_confs[gear] = [b1,b12,b13,b14]
gear_dict = {gear:[M,M3]}
cap_dict = {cap:[M3]}
#
seg_dicts = [b1_dict, b2_dict, b3_dict, b4_dict]
seg_dicts2 = [b1_dict2, b2_dict2, b3_dict2, b4_dict2]
seg_dicts3 = [b1_dict3, b2_dict3, b3_dict3, b4_dict3]
seg_dicts4 = [b1_dict4, b2_dict4, b3_dict4, b4_dict4]
all_dicts = [gear_dict, conn_dict, cap_dict] + seg_dicts + seg_dicts2 + seg_dicts3 + seg_dicts4
# print("added gear")
#
# neighbor_dicts = {list(seg.keys())[0]: [list(s.keys())[0] for s in all_dicts if shares_joint(s,seg)]
# for seg in all_dicts}
print("created neighbors")
#optimal = create_layer_assignment(neighbor_dicts,seg_confs)
optimal = {}
optimal[gear] = 0
optimal[b1] = 1
optimal[b2] = 1
optimal[b3] = 2
optimal[b4] = 2
optimal[b12] = 2
optimal[b22] = 2
optimal[b32] = 1
optimal[b42] = 1
optimal[b13] = -2
optimal[b23] = -2
optimal[b33] = -1
optimal[b43] = -1
optimal[b14] = -1
optimal[b24] = -1
optimal[b34] = -2
optimal[b44] = -2
optimal[conn] = 3
optimal[cap] = -3
lock_joints = [conn,conn2,conn3,conn4,gear, cap]
anchor_pts = [A,B,O,A4,B4]
ratts, conns, seg_names, joint_names = rationalize_linkage(all_dicts, optimal, lock_joints, anchor_pts)
pos_O, neg_O = joint_from_point(Point(0,0), "1O", 1)
#Create torso
mt, m_attach1, m_attach2 = create_servo_mount()
# #add support for A,B
mount_thickness= 3 # shaft coupler
layer_thickness = 3
##create the attacher thing, with joints
A1_bar, a1_attach = create_support_bar(joint_from_point(A,"A",3)[0],mount_thickness)
B1_bar, b1_attach = create_support_bar(joint_from_point(B,"B",2)[0],mount_thickness)
m_attach1_gen = m_attach1.get_generator()
a1_gen = a1_attach.get_generator()
b1_gen = b1_attach.get_generator()
a1_join = solid.hull()(m_attach1_gen, a1_gen)
b1_join = solid.hull()(m_attach1_gen, b1_gen)
cronenberg1 = PolyMesh(generator= solid.union()(a1_join,b1_join))
A2_bar, a2_attach = create_support_bar(joint_from_point(A2,"A2",2)[0],mount_thickness)
B2_bar, b2_attach = create_support_bar(joint_from_point(B2,"B2",3)[0],mount_thickness)
m_attach2_gen = m_attach2.get_generator()
a2_gen = a2_attach.get_generator()
b2_gen = b2_attach.get_generator()
a2_join = solid.hull()(m_attach2_gen, a2_gen)
b2_join = solid.hull()(m_attach2_gen, b2_gen)
cronenberg2 = PolyMesh(generator= solid.union()(a2_join,b2_join))
aparatus = cronenberg1 + A1_bar + B1_bar + mt + cronenberg2 + A2_bar + B2_bar
aparatus.save("torso.stl")
OT = (0, 0, 0)
OQ = Z_JOINT_POSE[1]
OP = (OT, OQ)
torso = Body(
pose = OP,
joints = [pos_O],
elts=[Layer(
aparatus,
name='lol',
color='yellow',
)],
name='torso'
)
ratts += [torso]
conns += [((0,'torso',"1O"),(0,seg_names[conn], joint_names[O]))]
#print ratts
#print conns
return ratts, conns
def save(self, file):
# Add screws
screw_head_radius = 3.0
screw_head_length = 2.5
screw_shaft_radius = 1.40 # 2.8mm diameter = 0.3mm extra
screw_shaft_length = 15.0
head = sc.translate([0,0,screw_shaft_length])(
sc.cylinder(h=screw_head_length + 100, r=screw_head_radius, segments=self._round_segments)
)
shaft = sc.cylinder(h=screw_shaft_length + 0.1, r=screw_shaft_radius, segments=self._round_segments)
screw_down = sc.translate([0,0,-screw_shaft_length - screw_head_length])(
sc.union()(head,shaft)
)
# Origin is top of screw
screw_side = sc.rotate([0,90,0])(screw_down)
sc.scad_render_to_file(screw_side, "screw.scad", include_orig_code=False)
# Place 4 screws in the right side
screw_recess_side = 1.0
assert screw_recess_side < self._thickness_xy
side_thick = self._thickness_xy - self._board_slot
ymin = self._board_bbox.bot() - self._board_slot - side_thick/2.0
ymax = self._board_bbox.top() + self._board_slot + side_thick/2.0
zmin = -self.cavity_bot - self._thickness_z + screw_head_radius + self._min_screw_material
zmax = self.cavity_top - self._thickness_z - screw_head_radius
x = self._board_bbox.right() + self._thickness_xy + 1.0
# Add screws to the side
for y in [ymin, ymax]:
for z in [zmin, zmax]:
self._case -= sc.translate([x,y,z])(screw_side)
print "Free material around side screws: {0}mm".\
format(self._thickness_xy - self._board_slot - 2*screw_shaft_radius)
# Add screws to the top
screw_recess_top = 0
assert screw_recess_top < self._thickness_z
min_screw_depth = 3.0
#Lowest depth screw can possibly go
zmin = self.cavity_top + screw_head_length + min_screw_depth
z_want = self.cavity_top + self._thickness_z - screw_recess_top
z = max(zmin, z_want)
ys = [self._board_bbox.top() + self._board_slot + (self._thickness_xy - self._board_slot)/2.0,
self._board_bbox.bot() - self._board_slot - (self._thickness_xy - self._board_slot)/2.0]
xs = [self._board_bbox.left() + screw_head_radius, self._board_bbox.right() - screw_shaft_length - 1.0]
for y in ys:
for x in xs:
self._case -= sc.translate([x,y,z])(screw_down)
#Top area: top of the case
top_area_select = self._board_bbox.copy().pad(self._thickness_xy*2)
top_area_select = rect2scad(top_area_select, self._thickness_z + 0.1, self.cavity_top - 0.05)
# main_area is the case without the top or side
main_area = self._board_bbox.copy()
main_area.bounds[0][0] -= self._thickness_xy*2
main_area.bounds[0][1] -= self._thickness_xy*2
main_area.bounds[1][0] -= 0.05 #So we don't have a degenerate face
main_area.bounds[1][1] += self._thickness_xy*2
main_area = rect2scad(main_area, self.height * 2, z_start = -self.height - 10)
#Add screws to hold down the board
remove_top = self._board_bbox.copy().pad(self._thickness_xy*2)
remove_top = rect2scad(remove_top, self.height, self.cavity_top + 0.05)
x = self._board_bbox.left() + (self._board_bbox.width + self._board_slot*2)/2.0
ys = [self._board_bbox.bot() - screw_shaft_radius - 0.5,
self._board_bbox.top() + screw_shaft_radius + 0.5]
z = screw_head_length
for y in ys:
self._case -= (sc.translate([x,y,z])(screw_down) - remove_top)
print "Board screw location: ({0}, {1})".format(x,y)
# Separate out the sides of the case
main_part = self._case * main_area
side = self._case - (main_area + top_area_select) # Side of the case, first part to screw on
#The top of the case (screwed on after the side)
top = self._case * top_area_select
main_part -= top_area_select
sc.scad_render_to_file(top, "top." + file, include_orig_code=False)
sc.scad_render_to_file(main_part, "main." + file, include_orig_code=False)
sc.scad_render_to_file(side, "side." + file, include_orig_code=False)
exploded = sc.union()(
main_part,
sc.translate([40,0,0])(side),
sc.translate([0,0,40])(top)
)
sc.scad_render_to_file(exploded, "exploded." + file, include_orig_code=False)
sc.scad_render_to_file(self._case, file, include_orig_code=False)