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defiler.py
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defiler.py
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#!/usr/bin/env python3
import time
from zencad import *
import zencad.assemble
import zencad.malgo
import zencad.libs.kinematic
from zencad.libs.screw import screw
class defiler(zencad.assemble.unit):
x = 50
y = 20
z = 10
class arm(zencad.assemble.unit):
class arm_node(zencad.assemble.unit):
h=20
r=1
def __init__(self, ax=(0,1,0)):
super().__init__()
self.add_shape(cylinder(r=self.r, h=self.h))
self.rot=zencad.libs.kinematic.rotator(ax=ax, location=up(self.h))
self.link(self.rot)
def __init__(self):
super().__init__()
self.arm_node_0 = self.arm_node(ax=(1,0,0))
self.arm_node_1 = self.arm_node(ax=(1,0,0))
#self.arm_node_2 = self.arm_node(ax=(0,1,0))
#self.arm_node_3 = self.arm_node(ax=(1,0,0))
#self.arm_node_4 = self.arm_node(ax=(0,1,0))
#self.arm_node_5 = self.arm_node(ax=(0,1,0))
#self.arm_node_6 = self.arm_node(ax=(1,0,0))
self.link(self.arm_node_0)
self.arm_node_0.rot.link(self.arm_node_1)
#self.arm_node_1.rot.link(self.arm_node_2)
#self.arm_node_2.rot.link(self.arm_node_3)
#self.arm_node_3.rot.link(self.arm_node_4)
#self.arm_node_4.rot.link(self.arm_node_5)
#self.arm_node_5.rot.link(self.arm_node_6)
self.arm_node_6 = self.arm_node_1
def __init__(self):
super().__init__()
self.add_shape(box(self.x, self.y, self.z, center=True).fillet(3))
self.arm_00 = self.arm()
self.arm_01 = self.arm()
self.arm_02 = self.arm()
self.arm_03 = self.arm()
self.arm_10 = self.arm()
self.arm_11 = self.arm()
self.arm_12 = self.arm()
self.arm_13 = self.arm()
self.brot_00 = zencad.libs.kinematic.rotator(location=move( self.x/4,self.y/2,0), ax=(0,0,1))
self.brot_01 = zencad.libs.kinematic.rotator(location=move( 0,self.y/2,0), ax=(0,0,1))
self.brot_02 = zencad.libs.kinematic.rotator(location=move(-self.x/4,self.y/2,0), ax=(0,0,1))
self.brot_03 = zencad.libs.kinematic.rotator(location=move(-self.x/4*2,self.y/2,0), ax=(0,0,1))
self.brot_10 = zencad.libs.kinematic.rotator(location=move( self.x/4,-self.y/2,0), ax=(0,0,1))
self.brot_11 = zencad.libs.kinematic.rotator(location=move( 0,-self.y/2,0), ax=(0,0,1))
self.brot_12 = zencad.libs.kinematic.rotator(location=move(-self.x/4,-self.y/2,0), ax=(0,0,1))
self.brot_13 = zencad.libs.kinematic.rotator(location=move(-self.x/4*2,-self.y/2,0), ax=(0,0,1))
self.rot_00 = zencad.libs.kinematic.rotator(ax=(1,0,0))
self.rot_01 = zencad.libs.kinematic.rotator(ax=(1,0,0))
self.rot_02 = zencad.libs.kinematic.rotator(ax=(1,0,0))
self.rot_03 = zencad.libs.kinematic.rotator(ax=(1,0,0))
self.rot_10 = zencad.libs.kinematic.rotator(ax=(-1,0,0))
self.rot_11 = zencad.libs.kinematic.rotator(ax=(-1,0,0))
self.rot_12 = zencad.libs.kinematic.rotator(ax=(-1,0,0))
self.rot_13 = zencad.libs.kinematic.rotator(ax=(-1,0,0))
self.arms = [self.arm_00, self.arm_01, self.arm_02, self.arm_03, self.arm_10, self.arm_11, self.arm_12, self.arm_13]
self.rots = [self.rot_00, self.rot_01, self.rot_02, self.rot_03, self.rot_10, self.rot_11, self.rot_12, self.rot_13]
self.brots = [self.brot_00, self.brot_01, self.brot_02, self.brot_03, self.brot_10, self.brot_11, self.brot_12, self.brot_13]
#for rot in self.rots: rot.add_triedron()
for i in range(len(self.arms)):
self.link(self.brots[i])
self.brots[i].link(self.rots[i])
self.rots[i].link(self.arms[i])
self.arms[i].baserot = self.brots[i]
self.arms[i].baserot2 = self.rots[i]
self.rots[i].set_coord(0)
self.arm_chains = []
for arm in self.arms:
self.arm_chains.append(zencad.libs.kinematic.kinematic_chain(arm.arm_node_6.rot))
targets = [[],[]]
for i in range(50):
ctr0 = disp(sphere(2),color=(0.5,0,0,0.5))
ctr1 = disp(sphere(2),color=(0.5,0,0,0.5))
targets[0].append(translate(i * 22, 28, -10))
targets[1].append(translate(i * 22 +10, -28, -10))
ctr0.relocate(targets[0][-1])
ctr1.relocate(targets[1][-1])
targetno = [0,0,0,0,0,0,0,0]
def serve_arm(arm, arm_chain, target, delta, side, no):
error = arm.arm_node_6.rot.global_location.inverse() * target
sens = arm_chain.sensivity()
location_error = error.translation() * 4
error = location_error
sens = [(*v,) for w, v in sens]
koeffs, iters = zencad.malgo.svd_backpack(target=error, vectors=sens)
print(koeffs)
arm.baserot.set_coord(arm.baserot.coord + koeffs[0] * delta)
arm.baserot2.set_coord(arm.baserot2.coord + koeffs[1] * delta)
if -math.pi < arm.baserot2.coord < math.pi:
pass
else: arm.baserot2.coord = 0
arm.arm_node_0.rot.set_coord(arm.arm_node_0.rot.coord + koeffs[2] * delta)
arm.arm_node_1.rot.set_coord(arm.arm_node_1.rot.coord + koeffs[3] * delta)
#arm.arm_node_2.rot.set_coord(arm.arm_node_2.rot.coord + koeffs[3] * delta)
#arm.arm_node_3.rot.set_coord(arm.arm_node_3.rot.coord + koeffs[4] * delta)
#arm.arm_node_4.rot.set_coord(arm.arm_node_4.rot.coord + koeffs[5] * delta)
#arm.arm_node_5.rot.set_coord(arm.arm_node_5.rot.coord + koeffs[6] * delta)
#arm.arm_node_6.rot.set_coord(arm.arm_node_6.rot.coord + koeffs[7] * delta)
if (arm.global_location.translation() - targets[side][targetno[no]+1].translation()).length() < 30:
targetno[no] += 1
target = [None]*8
drive=True
inited=0
starttime = time.time()
lasttime = starttime
def animate(wdg):
global inited
global lasttime
curtime = time.time()
delta = curtime - lasttime
lasttime = curtime
if not inited:
inited=True
return
arm = defiler.arms[0]
arm_chain = defiler.arm_chains[0]
target[0] = targets[0][targetno[0]]
target[1] = targets[0][targetno[1]]
target[2] = targets[0][targetno[2]]
target[3] = targets[0][targetno[3]]
target[4] = targets[1][targetno[4]]
target[5] = targets[1][targetno[5]]
target[6] = targets[1][targetno[6]]
target[7] = targets[1][targetno[7]]
serve_arm(defiler.arms[0], defiler.arm_chains[0], target[0], delta=delta, side=0,no=0)
serve_arm(defiler.arms[1], defiler.arm_chains[1], target[1], delta=delta, side=0,no=1)
serve_arm(defiler.arms[2], defiler.arm_chains[2], target[2], delta=delta, side=0,no=2)
serve_arm(defiler.arms[3], defiler.arm_chains[3], target[3], delta=delta, side=0,no=3)
serve_arm(defiler.arms[4], defiler.arm_chains[4], target[4], delta=delta, side=1,no=4)
serve_arm(defiler.arms[5], defiler.arm_chains[5], target[5], delta=delta, side=1,no=5)
serve_arm(defiler.arms[6], defiler.arm_chains[6], target[6], delta=delta, side=1,no=6)
serve_arm(defiler.arms[7], defiler.arm_chains[7], target[7], delta=delta, side=1,no=7)
if drive:
defiler.relocate(translate(delta*15,0,0) * defiler.location)
defiler.location_update()
defiler = defiler()
defiler.location_update()
disp(defiler)
show(animate=animate)