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feat: Pre stress joints

This commit is contained in:
Leni Aniva 2024-07-25 13:05:12 -07:00
parent 0094e19d3a
commit 5db1f0ce79
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
2 changed files with 15 additions and 6 deletions
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2
nhf/touhou/houjuu_nue/joints.py
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@ -1051,7 +1051,7 @@ class DiskJoint(Model):
angle: float = 0.0,
) -> Cq.Assembly:
assert 0 <= angle <= self.movement_angle
deflection = angle - self.neutral_movement_angle
deflection = angle - (self.spring.angle_neutral - self.spring_angle_at_0)
spring_name = disk.replace("/", "__Z") + "_spring"
(
assembly

19
nhf/touhou/houjuu_nue/wing.py
View File

@ -27,12 +27,12 @@ ELBOW_PARAMS = dict(
actuator=LINEAR_ACTUATOR_50,
parent_arm_width=15,
)
WRIST_DISK_PARAMS = dict(
movement_angle=30,
radius_disk=13.0,
radius_housing=15.0,
)
WRIST_PARAMS = dict(
disk_joint=DiskJoint(
movement_angle=30,
radius_disk=13.0,
radius_housing=15.0,
),
)
@dataclass(kw_only=True)
@ -1096,6 +1096,7 @@ class WingR(WingProfile):
elbow_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
disk_joint=DiskJoint(
movement_angle=55,
spring_angle_at_0=75,
),
flexor_offset_angle=15,
flexor_mount_angle_child=-75,
@ -1108,6 +1109,10 @@ class WingR(WingProfile):
wrist_bot_loc: Cq.Location = Cq.Location.from2d(403.0, 289.0, 45.0)
wrist_height: float = 60.0
wrist_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
disk_joint=DiskJoint(
spring_angle_at_0=120,
**WRIST_DISK_PARAMS,
),
flip=True,
angle_neutral=-20.0,
child_arm_radius=23.0,
@ -1344,6 +1349,7 @@ class WingL(WingProfile):
elbow_rotate: float = 15.0
elbow_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
disk_joint=DiskJoint(
spring_angle_at_0=100,
movement_angle=50,
),
angle_neutral=30.0,
@ -1370,6 +1376,9 @@ class WingL(WingProfile):
wrist_bot_loc: Cq.Location = Cq.Location.from2d(460.0, -10.0, -45.0)
wrist_height: float = 43.0
wrist_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
disk_joint=DiskJoint(
**WRIST_DISK_PARAMS,
),
flip=False,
hole_pos=[10],
lip_length=30,