#!/usr/bin/env python3 """Quadruped build guide: real 3D, 4 views per step, from kit_v3_1 geometry.""" import os, math os.environ["PYOPENGL_PLATFORM"] = "osmesa" import numpy as np, trimesh, pyrender from PIL import Image, ImageDraw, ImageFont import kit_v3_1 as K T = 3.7; TH = T/2 COL = dict(fork=(0.86,0.72,0.48,1), cheek=(0.93,0.83,0.62,1), lolli=(0.94,0.64,0.35,1), bar=(0.70,0.54,0.33,1), cookie=(0.88,0.76,0.55,1), sole=(0.60,0.48,0.32,1), fin=(0.60,0.48,0.32,1), pin=(0.55,0.42,0.28,1), head=(0.94,0.64,0.35,1)) def mesh2d(poly, color, R, origin, thick=T): """Extrude shapely poly (its plane -> columns of R: u,v in-plane, w normal), center on w.""" if poly.geom_type == "MultiPolygon": poly = max(poly.geoms, key=lambda g: g.area) m = trimesh.creation.extrude_polygon(poly, thick) m.apply_translation([0,0,-thick/2]) M = np.eye(4); M[:3,0], M[:3,1], M[:3,2] = R[:,0], R[:,1], R[:,2]; M[:3,3] = origin m.apply_transform(M) m.visual.face_colors = [int(c*255) for c in color] return m # plane bases (columns: u,v,normal) YZ = np.array([[0,0,1],[1,0,0],[0,1,0]]).T # u->y, v->z, n->x XZ = np.array([[1,0,0],[0,0,1],[0,1,0]]).T # u->x, v->z, n->y XY = np.eye(3) # horizontal # ---- frame constants (mm) ---- SOLE_TOP = T FIN_TOP = SOLE_TOP + 22.0 BAR_BOT = FIN_TOP - 9.0 BAR_TOP = BAR_BOT + 50.0 ZP = BAR_TOP + 29.0 # clevis pocket center height COOKIE_MID = ZP + (57.0 - 9.0) # fork tail length 57, notch overlap 9 ZS = COOKIE_MID - 8.0 # spine bottom edge XC_R, XC_F = 13.0, 97.0 # cookie centers (rear, front) on 110 spine HIP_Y = 17.5 # tail centered in notch at r 13..22 def clevis(x, y, splay_deg=0.0, with_pins=True): """One assembled clevis hanging from a cookie notch at (x, +/-y).""" parts = [] sgn = 1 if y >= 0 else -1 base = np.array([x, y, COOKIE_MID]) # fork: local +u(tail)->+z, so use YZ base with fork rotated: fork local x->z, y->y*sgn Rf = np.array([[0,0,sgn*0],[sgn*1,0,0],[0,0,0]]) # build explicitly below Rf = np.column_stack(([0,sgn*1,0],[0,0,1],[sgn*1,0,0])) # u->y*sgn? we want fork local x(tail)->+z, local y->y Rf = np.column_stack(([0,0,1],[0,1,0],[1,0,0])) # u(localx)->z, v(localy)->y, n->x org = np.array([x, y, ZP]) parts.append(mesh2d(K.fork_plate(), COL["fork"], Rf, org)) for dx in (-T, T): parts.append(mesh2d(K.cheek(), COL["cheek"], Rf, org + [dx,0,0])) # lollipop: local y(stem) -> -z... lolli stem is -v; with Rf, v->y. Need stem -z: use base u->? Rl = np.column_stack(([0,1,0],[0,0,1],[1,0,0])) # u(localx)->y, v(localy)->z: stem(-v)->-z lol = mesh2d(K.lolli(), COL["lolli"], Rl, org) if splay_deg: rot = trimesh.transformations.rotation_matrix(math.radians(sgn*splay_deg), [1,0,0], org) lol.apply_transform(rot) parts.append(lol) if with_pins: for a in K.PIN_ANGS + [None]: if a is None: pu, pv = K.TAIL_PIN_X, 0 else: pu, pv = K.PIN_R*math.cos(math.radians(a)), K.PIN_R*math.sin(math.radians(a)) ppos = org + Rf[:,0]*pu + Rf[:,1]*pv pin = trimesh.creation.box([3.6, 3.4, 12.0]) if abs(Rf[2,0])<0.5 else trimesh.creation.box([12.0,3.4,3.6]) pin = trimesh.creation.box([12.0, 3.4, 3.6]) pin.apply_transform(trimesh.transformations.rotation_matrix(math.pi/2,[0,1,0])) pin.apply_translation(ppos) pin.visual.face_colors = [int(c*255) for c in COL["pin"]] parts.append(pin) return parts, org def leg(x, y): Rb = np.column_stack(([0,0,-1],[1,0,0],[0,1,0])) # bar local x -> -z (hangs), local y -> x parts = [mesh2d(K.strut(50), COL["bar"], Rb, [x, y, ZP-29.0])] return parts def foot(x, y): Rfin = np.column_stack(([0,1,0],[0,0,1],[1,0,0])) # fin local x->y, y->z parts = [mesh2d(K.sole(), COL["sole"], XY, [x-22, y-13, SOLE_TOP-T/2+ -0.0], thick=T), mesh2d(K.fin(), COL["fin"], Rfin, [x, y-13, SOLE_TOP])] # fix sole centering: sole() local origin at corner; translate handled above via x-22,y-13 return parts def chassis(): Rs = np.column_stack(([1,0,0],[0,0,1],[0,1,0])) # spine local x->x, y->z (on edge) parts = [mesh2d(K.strut(110), COL["bar"], Rs, [0, 0, ZS+8.0-8.0+8.0])] # place: spine local y in [-8,8] -> z ZS..ZS+16: origin z = ZS+8 parts = [mesh2d(K.strut(110), COL["bar"], Rs, [0, 0, ZS+8.0])] parts.append(mesh2d(K.hub(4), COL["cookie"], XY, [XC_F, 0, COOKIE_MID])) parts.append(mesh2d(K.hub(5), COL["cookie"], XY, [XC_R, 0, COOKIE_MID])) return parts def neck_head(): Rn = np.column_stack(([0,0,1],[1,0,0],[0,1,0])) # neck bar local x->z (up), y->x parts = [mesh2d(K.strut(50), COL["bar"], Rn, [XC_F+17.5, 0, COOKIE_MID-9+0.0])] # neck bottom slit engages notch: bar local x0 at z=COOKIE_MID-9? origin maps local x0->z origin; set origin z so bottom= COOKIE_MID-9... local x in 0..50 -> z org..org+50: org = COOKIE_MID-9 Rh = np.column_stack(([0,1,0],[0,0,1],[1,0,0])) # head local x->y (faces +y), y->z hz = COOKIE_MID - 9 + 50 - 9 + 12.5 parts.append(mesh2d(K.head(), COL["head"], Rh, [XC_F+17.5, -41, hz])) return parts # ---------- steps ---------- def step_parts(n): P = [] if n == 1: # one clevis at origin-ish, exploded along x org = np.array([0,0,60]) Rf = np.column_stack(([0,0,1],[0,1,0],[1,0,0])) Rl = np.column_stack(([0,1,0],[0,0,1],[1,0,0])) P.append(mesh2d(K.cheek(), COL["cheek"], Rf, org + [-80,0,0])) P.append(mesh2d(K.fork_plate(), COL["fork"], Rf, org + [-27,0,0])) P.append(mesh2d(K.lolli(), COL["lolli"], Rl, org + [27,0,0])) P.append(mesh2d(K.cheek(), COL["cheek"], Rf, org + [80,0,0])) for i,dx in enumerate((-30,)): for a in K.PIN_ANGS + [999]: pu,pv = (K.TAIL_PIN_X,0) if a==999 else (K.PIN_R*math.cos(math.radians(a)), K.PIN_R*math.sin(math.radians(a))) pin = trimesh.creation.box([10,3.4,3.6]) pin.apply_transform(trimesh.transformations.rotation_matrix(math.pi/2,[0,1,0])) pin.apply_translation(org + [-103, pv, pu]) pin.visual.face_colors=[int(c*255) for c in COL["pin"]] P.append(pin) return P, "STEP 1 BUILD 4 CLEVISES (exploded: cheek+pins / fork / lollipop / cheek; stack along the pins)" if n == 2: c,_ = clevis(0, 0.01); P += c; P += leg(0, 0.01) return P, "STEP 2 LEG ONTO STEM (S50 end slit onto the lollipop stem slit, x4)" if n == 3: c,_ = clevis(0, 0.01); P += c; P += leg(0, 0.01); P += foot(0, 0.01) return P, "STEP 3 FOOT (fin tab through sole, leg bar into fin slit, x4)" if n == 4: P += chassis() return P, "STEP 4 CHASSIS (S110 on edge; H4 cookie on front end, H5 on rear; cookies flat)" if n == 5: P += chassis() for x in (XC_F, XC_R): for y in (HIP_Y, -HIP_Y): c,_ = clevis(x, y); P += c return P, "STEP 5 HIPS (each clevis tail slit UP into a cookie side notch, mouth down)" if n == 6: P += chassis() for x in (XC_F, XC_R): for y in (HIP_Y, -HIP_Y): c,_ = clevis(x, y); P += c; P += leg(x, y); P += foot(x, y) return P, "STEP 6 LEGS + FEET ON ALL FOUR (it stands; set equal tick angles, then splay to pose)" if n == 7: P += chassis() for x in (XC_F, XC_R): for y in (HIP_Y, -HIP_Y): c,_ = clevis(x, y); P += c; P += leg(x, y); P += foot(x, y) P += neck_head() return P, "STEP 7 NECK + HEAD (spare S50 upright in the front notch; head slit onto its top; faces sideways, that's the cat's choice)" return P, "" # ---------- rendering ---------- def render_views(meshes, size=560): scene_all = trimesh.util.concatenate(meshes) b = scene_all.bounds; center = b.mean(axis=0); ext = (b[1]-b[0]) radius = float(np.linalg.norm(ext))/2 imgs = [] views = [("iso", None), ("front", "front"), ("side", "side"), ("top", "top")] for name, kind in views: scene = pyrender.Scene(bg_color=[245,246,248,255], ambient_light=[0.45]*3) for m in meshes: scene.add(pyrender.Mesh.from_trimesh(m, smooth=False)) if kind is None: cam = pyrender.PerspectiveCamera(yfov=math.radians(30), znear=1.0, zfar=8000.0) el, az = 24, -55 dist = radius/math.sin(math.radians(15))*1.12 eye = center + dist*np.array([math.cos(math.radians(el))*math.cos(math.radians(az)), math.cos(math.radians(el))*math.sin(math.radians(az)), math.sin(math.radians(el))]) else: mag = radius*1.12 cam = pyrender.OrthographicCamera(xmag=mag, ymag=mag, znear=1.0, zfar=8000.0) eye = center + {"front": np.array([0,-4*radius,0]), "side": np.array([4*radius,0,0]), "top": np.array([0,0.001,4*radius])}[kind] f = center-eye; f/=np.linalg.norm(f) up = np.array([0,0,1.0]) if kind!="top" else np.array([0,1.0,0]) s = np.cross(f,up); s/=np.linalg.norm(s); u = np.cross(s,f) M = np.eye(4); M[:3,0],M[:3,1],M[:3,2],M[:3,3] = s,u,-f,eye scene.add(cam, pose=M) scene.add(pyrender.DirectionalLight(intensity=3.0), pose=M) M2 = M.copy(); scene.add(pyrender.DirectionalLight(intensity=1.2), pose=trimesh.transformations.rotation_matrix(2.2,[0,0,1],center) @ M) r = pyrender.OffscreenRenderer(size, size) color,_ = r.render(scene); r.delete() im = Image.fromarray(color) d = ImageDraw.Draw(im); d.text((10,8), name, fill=(60,60,70)) imgs.append(im) return imgs CELL = 560 rows = [] for n in range(1, 8): meshes, caption = step_parts(n) imgs = render_views(meshes, CELL) row = Image.new("RGB", (CELL*4, CELL+46), (19,26,38)) for i, im in enumerate(imgs): row.paste(im, (i*CELL, 46)) d = ImageDraw.Draw(row) try: font = ImageFont.truetype("/usr/share/fonts/truetype/dejavu/DejaVuSans-Bold.ttf", 24) except Exception: font = ImageFont.load_default() d.text((14, 10), caption, fill=(240,163,92), font=font) rows.append(row) W = CELL*4; Hs = sum(r.height for r in rows) sheet = Image.new("RGB", (W, Hs+60), (19,26,38)) d = ImageDraw.Draw(sheet) try: tfont = ImageFont.truetype("/usr/share/fonts/truetype/dejavu/DejaVuSans-Bold.ttf", 32) except Exception: tfont = ImageFont.load_default() d.text((14, 12), "QUADRUPED — kit v3.1 — every step, four views (iso / front / side / top)", fill=(232,220,200), font=tfont) y = 60 for r in rows: sheet.paste(r, (0, y)); y += r.height sheet.save("quad_steps.png") print("quad_steps.png", sheet.size)