Skip to content

Instantly share code, notes, and snippets.

Embed
What would you like to do?
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
@philipptempel

This comment has been minimized.

Copy link
Owner Author

philipptempel commented Sep 23, 2019

Put into samples/robot.py and then

from samples import robot
r = robot.ipanema_cuboid()
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
You can’t perform that action at this time.