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 |
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Put into
samples/robot.py
and then