rearranges to add pivots to 12 coxa,femur and tibia

BITPlan · Aug 16, 2019 · 29d4f64 · 29d4f64
1 parent f22d845
commit 29d4f64
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Showing 3 changed files with 91 additions and 1 deletion.
diff --git a/gn b/gn
@@ -0,0 +1,18 @@
+#!/bin/bash
+# WF 2019-09-16
+# get new rearranged version of spiderq.json
+
+# get the most recently modified file
+# https://stackoverflow.com/a/9052878/1497139
+latest() {
+  local l_d="$1"
+  local l_pattern="$2"
+  cd "$l_d"
+  ls -t $l_pattern | head -1
+}
+d=$HOME/Downloads
+newspider=$(latest $d "SpiderQ*.json")
+src="$d/$newspider"
+target="web/models/spider2.json"
+echo "moving $src to $target"
+mv $src $target
diff --git a/web/js/robot.js b/web/js/robot.js
@@ -527,7 +527,7 @@ class Robot {
     for (var partIndex in this.allParts) {
       var part = this.allParts[partIndex];
       // add pivots to the coxas
-      if (part.name.match('coxa[0-9]')) {
+      if (part.name.match('(coxa|femur|tibia)[0-9]')) {
         console.log("rearranging " + part.name);
         part.pivot = new Pivot(part.name + "-pivot", part.x, part.y, part.z, part.rx, part.ry, part.rz);
       }

diff --git a/web/models/spider2.json b/web/models/spider2.json
@@ -344,6 +344,15 @@
       "rx": 90,
       "ry": 180,
       "rz": 225,
+      "pivot": {
+        "name": "femur0-pivot",
+        "x": -80,
+        "y": 69,
+        "z": -69,
+        "rx": 90,
+        "ry": 180,
+        "rz": 225
+      },
       "parts": [
         {
           "name": "femurpart0",
@@ -366,6 +375,15 @@
       "rx": 90,
       "ry": 180,
       "rz": 315,
+      "pivot": {
+        "name": "femur1-pivot",
+        "x": 82,
+        "y": 69,
+        "z": -70,
+        "rx": 90,
+        "ry": 180,
+        "rz": 315
+      },
       "parts": [
         {
           "name": "femurpart1",
@@ -388,6 +406,15 @@
       "rx": 0,
       "ry": 0,
       "rz": 0,
+      "pivot": {
+        "name": "femur2-pivot",
+        "x": -82,
+        "y": 69,
+        "z": 70,
+        "rx": 0,
+        "ry": 0,
+        "rz": 0
+      },
       "parts": [
         {
           "name": "femurpart2",
@@ -410,6 +437,15 @@
       "rx": 0,
       "ry": 0,
       "rz": 0,
+      "pivot": {
+        "name": "femur3-pivot",
+        "x": 82,
+        "y": 69,
+        "z": 70,
+        "rx": 0,
+        "ry": 0,
+        "rz": 0
+      },
       "parts": [
         {
           "name": "femurpart3",
@@ -432,6 +468,15 @@
       "rx": 0,
       "ry": 90,
       "rz": 0,
+      "pivot": {
+        "name": "tibia0-pivot",
+        "x": -90,
+        "y": 68.5,
+        "z": -80,
+        "rx": 0,
+        "ry": 90,
+        "rz": 0
+      },
       "parts": [
         {
           "name": "tibiapart0",
@@ -476,6 +521,15 @@
       "rx": 0,
       "ry": 90,
       "rz": 0,
+      "pivot": {
+        "name": "tibia1-pivot",
+        "x": 110,
+        "y": 68.5,
+        "z": -106,
+        "rx": 0,
+        "ry": 90,
+        "rz": 0
+      },
       "parts": [
         {
           "name": "tibiapart1",
@@ -520,6 +574,15 @@
       "rx": 0,
       "ry": 0,
       "rz": 0,
+      "pivot": {
+        "name": "tibia2-pivot",
+        "x": -122,
+        "y": 68.5,
+        "z": 100,
+        "rx": 0,
+        "ry": 0,
+        "rz": 0
+      },
       "parts": [
         {
           "name": "tibiapart2",
@@ -564,6 +627,15 @@
       "rx": 0,
       "ry": 0,
       "rz": 0,
+      "pivot": {
+        "name": "tibia3-pivot",
+        "x": 122,
+        "y": 68.5,
+        "z": 100,
+        "rx": 0,
+        "ry": 0,
+        "rz": 0
+      },
       "parts": [
         {
           "name": "tibiapart3",