131 lines
5.8 KiB
Python
131 lines
5.8 KiB
Python
import matplotlib.pyplot as plt
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection
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import numpy as np
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def generate_picture_clp(all_group_vars, picture_path, DEBUG=False):
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try:
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# Get WPR_X, WPR_Y, and WPR_Z values
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vars = all_group_vars['wp']
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x_wpraw = float(vars['WPR_X'])
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y_wpraw = float(vars['WPR_Y'])
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z_wpraw = float(vars['WPR_Z'])
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x_cube = x_wpraw*2
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y_cube = y_wpraw*2
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z_cube = z_wpraw
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clp_offset = float(all_group_vars['clp']['clp_offset'])
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# ERROR HANDLING
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if x_cube <= 0 or y_cube <= 0 or z_cube <= 0:
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raise ValueError("WPR_X, WPR_Y, and WPR_Z must be positive values.")
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# Define the vertices of the cube based on wpraw dimensions
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vertices = (np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
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[0, 0, z_cube], [x_cube, 0, z_cube], [x_cube, y_cube, z_cube], [0, y_cube, z_cube]])
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+ np.array([0, -clp_offset, 0]))
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# Define the 6 faces of the cube
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faces = [[vertices[j] for j in [0, 1, 2, 3]], # Bottom face
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[vertices[j] for j in [4, 5, 6, 7]], # Top face
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[vertices[j] for j in [0, 3, 7, 4]], # Left face
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[vertices[j] for j in [1, 2, 6, 5]], # Right face
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[vertices[j] for j in [0, 1, 5, 4]], # Front face
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[vertices[j] for j in [2, 3, 7, 6]]] # Back face
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# Plot the cube in 3D
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fig = plt.figure()
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ax = fig.add_subplot(111, projection='3d')
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# Plot the cube with the specified faces
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ax.add_collection3d(Poly3DCollection(faces, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
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# Set the aspect ratio for each axis
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ax.set_box_aspect([x_cube, y_cube, z_cube])
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# Hide the axis ticks and labels
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ax.set_xticks([]) # Hide X axis ticks
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ax.set_yticks([]) # Hide Y axis ticks
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ax.set_zticks([]) # Hide Z axis ticks
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# Add a ball (sphere) at the center of the cube
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ball_radius = min(x_wpraw, y_wpraw, z_wpraw) * 0.1 # Size relative to cube dimensions
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u = np.linspace(0, 2 * np.pi, 20)
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v = np.linspace(0, np.pi, 20)
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x_sphere = x_wpraw + ball_radius * np.outer(np.cos(u), np.sin(v))
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y_sphere = y_wpraw - clp_offset + ball_radius * np.outer(np.sin(u), np.sin(v))
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z_sphere = z_wpraw + ball_radius * np.outer(np.ones(np.size(u)), np.cos(v))
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ax.plot_surface(x_sphere, y_sphere, z_sphere, color='red', alpha=1)
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# Add the origin sparrow (a small 3D marker at the origin)
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max_size = max(x_cube, y_cube, z_cube) * 0.2 # Scale the arrows relative to the smallest dimension
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ax.quiver(0, -clp_offset, 0, max_size, 0, 0, color='red', linewidth=2, label='X-axis') # Red arrow for X-axis
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ax.quiver(0, -clp_offset, 0, 0, max_size, 0, color='green', linewidth=2, label='Y-axis') # Green arrow for Y-axis
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ax.quiver(0, -clp_offset, 0, 0, 0, max_size, color='blue', linewidth=2, label='Z-axis') # Blue arrow for Z-axis
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# Add two black blocks (greifer fingers) on the Y-faces in the middle of the cube height
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max_size2 = max(x_cube, y_cube, z_cube) * 0.4 # Scale the arrows relative to the smallest dimension
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ax.bar3d(-max_size2, -(2.0-1)/2 * y_cube, -z_wpraw * 0.0,
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max_size2, 2.0 * y_cube, z_wpraw * 0.2,
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color='black', alpha=.10)
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ax.bar3d(-max_size2, -(2.0-1)/2 * y_cube, -z_wpraw * 0.0,
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max_size2+3, 2.0 * y_cube, -z_wpraw * 0.2,
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color='black', alpha=.10)
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ax.bar3d(x_cube, -(2-1)/2 * y_cube, -z_wpraw * 0.0,
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max_size2, 2.0 * y_cube, z_wpraw * 0.2,
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color='black', alpha=.10)
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ax.bar3d(x_cube-3, -(2-1)/2 * y_cube, -z_wpraw * 0.0,
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max_size2+3, 2.0 * y_cube, -z_wpraw * 0.2,
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color='black', alpha=.10)
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# Add the origin sparrow (a small 3D marker at the origin)
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max_size3 = max(x_cube, y_cube, z_cube) * 0.3 # Scale the arrows relative to the smallest dimension
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ax.quiver(x_wpraw, y_wpraw, 0, 0, max_size3, 0, color='red', linewidth=3, label='X-axis') # Red arrow for X-axis
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ax.quiver(x_wpraw, y_wpraw, 0, -max_size3, 0, 0, color='green', linewidth=3, label='Y-axis') # Green arrow for Y-axis
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ax.quiver(x_wpraw, y_wpraw, 0, 0, 0, max_size3, color='blue', linewidth=3, label='Z-axis') # Blue arrow for Z-axis
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# Set viewing angle
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ax.view_init(elev=30, azim=-150) # Set elevation to 24° and azimuth to -151°
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# ax.view_init(elev=90, azim=180) # Set elevation to 24° and azimuth to -151°
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# Set limits for the axes
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# ax.set_xlim([0, x_cube])
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# ax.set_ylim([0, y_cube])
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# ax.set_zlim([0, z_cube])
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# Set equal aspect ratio to make grid cells look square
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ax.set_aspect('equal')
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if not DEBUG:
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# Save the figure to the specified picture path
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fig.savefig(picture_path, bbox_inches='tight', pad_inches=0.1, dpi=300, transparent=True)
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else:
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plt.show()
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# Close the figure to free memory
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plt.close()
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except ValueError as ve:
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# Handle value error (e.g., invalid input)
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print(f"Invalid Input: Error: {ve}")
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except Exception as e:
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# Catch any other exceptions and show a generic error message
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print(f"An error occurred while generating the 3D cube: {e}")
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# Example use-case
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if __name__ == "__main__":
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all_group_vars = {
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'wp_raw': {
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'WPR_X': '10', # Example values for testing
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'WPR_Y': '15',
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'WPR_Z': '20'
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},
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'clp': {
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'clp_offset': '4'
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}
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}
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generate_picture_clp(all_group_vars, 'output_image.png', DEBUG=True)
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