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philipptempel/sample.robots.py

Created September 23, 2019 13:33
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  1. Philipp Tempel created this gist Sep 23, 2019.
    127 changes: 127 additions & 0 deletions sample.robots.py
    View file
    Original file line number Diff line number Diff line change
    @@ -0,0 +1,127 @@
    import cdpyr


    def ipanema_cuboid():
    r = cdpyr.robot.Robot(
    frame=cdpyr.robot.Frame(
    anchors=[
    cdpyr.robot.FrameAnchor(
    position=[-1.0, 1.0, 1.0]
    ),
    cdpyr.robot.FrameAnchor(
    position=[1.0, 1.0, 1.0]
    ),
    cdpyr.robot.FrameAnchor(
    position=[1.0, -1.0, 1.0]
    ),
    cdpyr.robot.FrameAnchor(
    position=[-1.0, -1.0, 1.0]
    ),
    cdpyr.robot.FrameAnchor(
    position=[-1.0, 1.0, -1.0]
    ),
    cdpyr.robot.FrameAnchor(
    position=[1.0, 1.0, -1.0]
    ),
    cdpyr.robot.FrameAnchor(
    position=[1.0, -1.0, -1.0]
    ),
    cdpyr.robot.FrameAnchor(
    position=[-1.0, -1.0, -1.0]
    ),
    ]
    ),
    platforms=[
    cdpyr.robot.Platform(
    motionpattern=cdpyr.motion.Motionpattern._3R3T,
    anchors=[
    cdpyr.robot.PlatformAnchor(
    position=[-0.1, 0.1, 0.1]
    ),
    cdpyr.robot.PlatformAnchor(
    position=[0.1, 0.1, 0.1]
    ),
    cdpyr.robot.PlatformAnchor(
    position=[0.1, -0.1, 0.1]
    ),
    cdpyr.robot.PlatformAnchor(
    position=[-0.1, -0.1, 0.1]
    ),
    cdpyr.robot.PlatformAnchor(
    position=[-0.1, 0.1, -0.1]
    ),
    cdpyr.robot.PlatformAnchor(
    position=[0.1, 0.1, -0.1]
    ),
    cdpyr.robot.PlatformAnchor(
    position=[0.1, -0.1, -0.1]
    ),
    cdpyr.robot.PlatformAnchor(
    position=[-0.1, -0.1, -0.1]
    ),
    ]
    )
    ],
    cables=[
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    cdpyr.robot.Cable(
    name="Dyneema",
    material="Liros D-Pro SK78",
    diameter=6 / 1000,
    color="red"
    ),
    ],
    kinematic_chains={
    (0, 0, 4, 0),
    (1, 0, 5, 1),
    (2, 0, 6, 2),
    (3, 0, 7, 3),
    (4, 0, 0, 4),
    (5, 0, 1, 5),
    (6, 0, 2, 6),
    (7, 0, 3, 7)
    }
    )

    return r