166 lines
6.1 KiB
Python
166 lines
6.1 KiB
Python
import matplotlib.pyplot as plt
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from functions import *
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def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
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vars = all_group_vars['wp']
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WPR_X, WPR_Y, WPR_Z, WPF_X, WPF_Y, WPF_Z, WP_CLP_OFFSET_X, WP_GRP_OFFSET_Z = (float(vars[k]) for k in
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['WPR_X', 'WPR_Y', 'WPR_Z', 'WPF_X',
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'WPF_Y', 'WPF_Z', 'WP_CLP_OFFSET_X',
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'WP_GRP_OFFSET_Z'])
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if min(WPR_X, WPR_Y, WPR_Z, WPF_X, WPF_Y, WPF_Z) <= 0:
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raise ValueError("Dimensions must be positive.")
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fig, ax = plt.subplots(subplot_kw={'projection': '3d'})
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# Define raw workpiece dimensions
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x_cube, y_cube, z_cube = 2 * WPR_X, 2 * WPR_Y, WPR_Z
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vertices_raw = np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
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[0, 0, WPR_Z], [x_cube, 0, WPR_Z], [x_cube, y_cube, WPR_Z], [0, y_cube, WPR_Z]])
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faces_raw = [vertices_raw[[0, 1, 2, 3]], vertices_raw[[4, 5, 6, 7]], vertices_raw[[0, 3, 7, 4]],
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vertices_raw[[1, 2, 6, 5]], vertices_raw[[0, 1, 5, 4]], vertices_raw[[2, 3, 7, 6]]]
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# Set axis properties
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ax.set_box_aspect([x_cube, y_cube, z_cube])
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ax.set(xticks=[], yticks=[], zticks=[])
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# Draw WP coordinate system
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axis_len = max(x_cube, y_cube, z_cube) * 0.2
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colors = ['r', 'g', 'b']
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origin_x = 0
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origin_y = 0
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origin_z = 0
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for i, vec in enumerate(np.eye(3)):
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ax.quiver(origin_x, origin_y, origin_z, *(axis_len * vec), color=colors[i], linewidth=3)
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ax.text(origin_x, origin_y, origin_z - axis_len * 0.3, 'WP', color='black', fontsize=9, weight='bold', ha='center',
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va='top')
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# Draw WP
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ax.add_collection3d(Poly3DCollection(faces_raw, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
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# Draw gripping point
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u, v = np.mgrid[0:2 * np.pi:20j, 0:np.pi:20j]
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ball_radius = min(WPR_X, WPR_Y, WPR_Z) * 0.1
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ax.plot_surface(
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WPR_X + ball_radius * np.cos(u) * np.sin(v),
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WPR_Y + ball_radius * np.sin(u) * np.sin(v),
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WPR_Z + ball_radius * np.cos(v),
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color='r'
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)
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# Draw gripper
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gripper_thickness = max(x_cube, y_cube, z_cube) * 0.1
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gripper_wide = WPR_X * 0.4
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GRP_ALPHA = .40
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bars = [
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((x_cube - gripper_wide) * 0.5, -gripper_thickness, WPR_Z - WP_GRP_OFFSET_Z),
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((x_cube - gripper_wide) * 0.5, y_cube, WPR_Z - WP_GRP_OFFSET_Z),
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]
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for (x, y, z) in bars:
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ax.bar3d(
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x, y, z,
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gripper_wide, gripper_thickness, 5 * WPR_Z + WP_GRP_OFFSET_Z,
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color='r', alpha=GRP_ALPHA, edgecolor='k', linewidth=0.5
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)
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# Define finished workpiece dimensions
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x_cube2, y_cube2, z_cube2 = 2 * WPF_X, 2 * WPF_Y, WPF_Z
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# Draw gripping point for finished workpiece
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u, v = np.mgrid[0:2 * np.pi:20j, 0:np.pi:20j]
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ball_radius = min(WPF_X, WPF_Y, WPF_Z) * 0.08
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ax.plot_surface(
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WPF_X + ball_radius * np.cos(u) * np.sin(v),
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WPF_Y + ball_radius * np.sin(u) * np.sin(v),
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WPF_Z + ball_radius * np.cos(v),
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color='g'
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)
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# Draw gripper for finished workpiece
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gripper_thickness2 = max(x_cube, y_cube, z_cube) * 0.05
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gripper_wide2 = WPR_X * 0.4
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GRP_ALPHA2 = .25
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yyy2 = [-gripper_thickness2, y_cube2] if WPF_Y < WPR_Y else [-gripper_thickness2 + (WPF_Y - WPR_Y) * 2, y_cube]
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bars = [
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((x_cube2 - gripper_wide2) * 0.5, yyy2[0], WPF_Z - WP_GRP_OFFSET_Z),
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((x_cube2 - gripper_wide2) * 0.5, yyy2[1], WPF_Z - WP_GRP_OFFSET_Z),
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]
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for (x, y, z) in bars:
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ax.bar3d(
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x, y, z,
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gripper_wide2, gripper_thickness2, 5 * WPF_Z + WP_GRP_OFFSET_Z,
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color='g', alpha=GRP_ALPHA2, edgecolor='k', linewidth=0.5
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)
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# Draw CLP coordinate system
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axis_len = max(x_cube, y_cube, z_cube) * 0.15
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colors = ['r', 'g', 'b']
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origin_x = WPR_X - WP_CLP_OFFSET_X
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origin_y = WPR_Y
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origin_z = 0
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for i, vec in enumerate(np.eye(3)):
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ax.quiver(origin_x, origin_y, origin_z, *(axis_len * vec), color=colors[i], linewidth=3)
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ax.text(origin_x, origin_y, origin_z - axis_len * 0.3, 'CLP', color='blue', fontsize=9, weight='bold', ha='center',
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va='top')
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# Define clamping block dimensions
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clp_height = z_cube * 0.2
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clp_width = 0.6 * x_cube
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clp_deep = y_cube * 0.3
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clp_supportdeep = 3
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base_x = WPR_X - clp_width / 2
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alpha = 0.35
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color = 'blue'
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linewidth = 1
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# Draw clamping blocks
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x = base_x - WP_CLP_OFFSET_X
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dx = clp_width
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y = 0
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dy1 = clp_deep
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dy2 = clp_supportdeep
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z = 0
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dz1 = z_cube * 0.2
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dz2 = z_cube * 0.6
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plot_clamping(ax, x, y, z, dx, dy1, dy2, dz1, dz2, color=color,
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alpha=alpha, linewidth=linewidth)
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y = y_cube
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plot_clamping(ax, x, y, z, dx, dy1, dy2, dz1, dz2, color=color,
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alpha=alpha, linewidth=linewidth, inverty=True)
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# Set view properties
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z_trans = WPR_Z*0.2
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zoom_factor = 1.1 # Adjust this factor to zoom out more or less
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ax.view_init(elev=30, azim=-160)
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ax.set_xlim([-x_cube * zoom_factor * 0.1, x_cube * zoom_factor])
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ax.set_ylim([-y_cube * zoom_factor * 0.1, y_cube * zoom_factor])
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ax.set_zlim([-WPR_Z * zoom_factor * 0.1 - z_trans, WPR_Z * zoom_factor - z_trans])
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ax.set_aspect('auto')
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ax.grid(False) # Remove grid lines
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ax.set_xticks([])
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ax.set_yticks([])
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ax.set_zticks([])
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for axis in [ax.xaxis, ax.yaxis, ax.zaxis]:
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axis.set_pane_color((1, 1, 1, 0)) # Hide background panes
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axis.line.set_color((1, 1, 1, 0)) # Hide axis lines
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# Save or display the plot
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if not DEBUG:
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fig.savefig(picture_path, bbox_inches='tight', dpi=300, transparent=True)
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else:
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plt.show()
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plt.close()
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if __name__ == "__main__":
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vars = {'WPR_X': 20,
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'WPR_Y': 15,
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'WPR_Z': 20,
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'WPF_X': 10,
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'WPF_Y': 18,
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'WPF_Z': 15,
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'WP_CLP_OFFSET_X': 3,
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'WP_GRP_OFFSET_Z': 5}
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generate_picture_wp({'wp': vars}, "cfg_picture/TEST_wpraw.jpg", DEBUG=True)
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