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Commit ac6b4b53 authored by K Z's avatar K Z
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add piramida

parent 25780214
article_mor
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article/obj_grasp/PUNK_PIRAMIDA_M.obj 0 → 100644
View file @ ac6b4b53
# WaveFront *.obj file (generated by Autodesk ATF)
mtllib PUNK_PIRAMIDA_M.mtl
g Body1
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usemtl Steel_-_Satin
f 1/1/1 2/2/2 3/3/3
f 3/4/4 2/5/5 4/6/6
f 4/7/7 2/8/8 5/9/9
f 5/10/10 2/11/11 1/12/12
f 6/13/13 7/14/14 8/15/15
f 8/16/16 7/17/17 9/18/18
f 9/19/19 7/20/20 10/21/21
f 10/22/22 7/23/23 6/24/24
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f 13/28/28 12/29/29 14/30/30
f 14/31/31 12/32/32 15/33/33
f 15/34/34 12/35/35 11/36/36
f 16/37/37 17/38/38 18/39/39
f 18/40/40 17/41/41 19/42/42
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# 21 vertices
# 71 texture params
# 72 normals
# 38 facets
# 1 groups
article/obj_grasp/objects.py
View file @ ac6b4b53
......@@ -71,61 +71,35 @@ def get_obj_COMPLEX():
obj = BlockWrapper(ChronoBodyEnv,
shape=shape_box,
material=matich,
pos=FrameTransform([0, 1, 0], [1, 0, 0, 0]))
pos=FrameTransform([0.3, 1, 0.3], [1, 0, 0, 0]))
return obj
def get_obj_easy_long_tilt_box():
matich = DefaultChronoMaterial()
matich.Friction = 0.65
matich.DampingF = 0.65
shape_box = envbody_shapes.Box(0.4, 0.6, 4)
obj = BlockWrapper(ChronoBodyEnv,
shape=shape_box,
material=matich,
pos=FrameTransform([0, 1, 0], rotation_x(15)))
return obj
def get_obj_easy_cylinder():
matich = DefaultChronoMaterial()
matich.Friction = 0.2
matich.DampingF = 0.65
shape_box = envbody_shapes.Cylinder(0.6, 0.4)
shape_box = envbody_shapes.Cylinder(0.3, 1)
obj = BlockWrapper(ChronoBodyEnv,
shape=shape_box,
material=matich,
mass=1,
pos=FrameTransform([0, 1, 0], [1,0,0,0]))
pos=FrameTransform([0.25, 1.25, -0.5], rotation_x(15)))
return obj
def get_object_to_grasp_sphere():
"""Medium task"""
def get_obj_easy_long_tilt_box():
matich = DefaultChronoMaterial()
matich.Friction = 0.65
matich.Friction = 0.3
matich.DampingF = 0.65
shape = envbody_shapes.Sphere(0.4)
shape_box = envbody_shapes.Box(0.4, 0.6, 1)
obj = BlockWrapper(ChronoBodyEnv,
shape=shape,
shape=shape_box,
material=matich,
pos=FrameTransform([0, 0.9, 0], [0, 0, 0, 1]))
return obj
def get_obj_hard_mesh():
# Create object to grasp
shape = envbody_shapes.FromMesh("examples\obj_grasp\Ocpocmaqs_scaled.obj")
mat = DefaultChronoMaterial()
mat.Friction = 0.2
mat.DampingF = 0.2
obj = BlockWrapper(ChronoBodyEnv,
shape=shape,
material=mat,
pos=FrameTransform([0, 1, 0], [ 0.854, 0.354, 0.354, 0.146]))
mass = 3,
pos=FrameTransform([0, 1, 0], rotation_x(15)))
return obj
def get_obj_hard_ellipsoid():
......@@ -177,9 +151,9 @@ def get_obj_hard_long_ellipsoid():
def get_obj_hard_long_tilt_ellipsoid():
shape = envbody_shapes.Ellipsoid()
shape.radius_x = 0.4
shape.radius_y = 0.4
shape.radius_z = 2
shape.radius_x = 0.15
shape.radius_y = 0.15
shape.radius_z = 0.15
mat = DefaultChronoMaterial()
mat.Friction = 0.30
......@@ -287,4 +261,18 @@ def get_obj_hard_mesh_piramida():
material=mat,
pos=FrameTransform([0, 1, 0], quat))
return obj
\ No newline at end of file
def get_obj_hard_mesh_punk_piramida():
# Create object to grasp
quat = Rotation.from_euler('xyz', [90, 0, 0], degrees=True).as_quat()
shape = envbody_shapes.FromMesh("article\obj_grasp\PUNK_PIRAMIDA_M.obj")
mat = DefaultChronoMaterial()
mat.Friction = 0.2
mat.DampingF = 0.1
obj = BlockWrapper(ChronoBodyEnv,
shape=shape,
mass = 2,
material=mat,
pos=FrameTransform([0, 1.5, 0], quat))
return obj
\ No newline at end of file
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