Jerry
205 lines
6.4 KiB
Python
205 lines
6.4 KiB
Python
"""juno torso/chest.
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Local frame: origin at the waist-yaw joint center (bottom of torso),
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+X forward, +Y robot-left, +Z up. Units mm.
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Locked interfaces (do not change):
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- nothing below z=+2; graphite waist collar dia 100 spans z 2..36
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- chest volume z 36..320, |y| <= 118, x -78..+82
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- shoulder bosses: ALU cylinders along Y at (0, +-y, 290), |y| 112..132, dia 76
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- neck: ALU collar dia 52, z 318..324; z > 324 kept clear within r < 40
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- top deck <= z 330
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Construction: a graphite lofted core plus a 5 mm conformal shell ring
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(outer loft minus inner loft). Ice-gray armor panels are pieces of that
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ring clipped by rounded region boxes, so every seam is a 5 mm-deep
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recess exposing the graphite core (G1-style two-tone panel lines).
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"""
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from __future__ import annotations
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import sys
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from pathlib import Path
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import math # noqa: F401 (kept for parity with sibling part modules)
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from build123d import (
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Axis,
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Box,
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Cylinder,
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Plane,
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Pos,
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RectangleRounded,
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Rot,
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SortBy,
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chamfer,
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fillet,
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loft,
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)
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from .juno_lib import (
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ALU_COLOR,
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SHELL_COLOR,
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STRUCT_COLOR,
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VISOR_COLOR,
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part_compound,
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styled,
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)
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# Loft sections: (z, depth_x, width_y, corner_r, center_x).
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# Front line bulges to x=+78 at the chest and pulls back at the top for a
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# slightly forward-leaning athletic silhouette; width V-tapers 148 -> 222.
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_OUTER = [
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(36.0, 104.0, 132.0, 22.0, 2.0),
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(90.0, 112.0, 150.0, 26.0, 5.0),
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(160.0, 122.0, 172.0, 30.0, 9.0),
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(225.0, 132.0, 196.0, 33.0, 12.0),
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(272.0, 138.0, 216.0, 35.0, 9.0),
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(300.0, 132.0, 222.0, 36.0, 6.0),
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(310.0, 124.0, 210.0, 34.0, 4.0),
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]
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_SHELL_T = 5.0
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_INNER = [
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(z, d - 2 * _SHELL_T, w - 2 * _SHELL_T, r - _SHELL_T, cx)
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for (z, d, w, r, cx) in _OUTER
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]
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def _loft_solid(specs):
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sections = [
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Plane.XY.offset(z) * Pos(cx, 0, 0) * RectangleRounded(d, w, r)
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for (z, d, w, r, cx) in specs
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]
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return loft(sections)
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def _safe_fillet(solid, edges, radius):
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try:
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return fillet(edges, radius)
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except Exception:
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return solid
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def _safe_chamfer(solid, edges, length):
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try:
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return chamfer(edges, length)
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except Exception:
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return solid
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def _region(size, center, radius):
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"""Clip volume with rounded Y/Z seam corners (edges along X filleted)."""
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box = Pos(*center) * Box(*size)
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try:
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box = fillet(box.edges().filter_by(Axis.X), radius)
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except Exception:
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pass
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return box
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def _clip_panel(ring, region):
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piece = ring & region
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solids = piece.solids()
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if len(solids) > 1:
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piece = solids.sort_by(SortBy.VOLUME)[-1]
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return _safe_fillet(piece, piece.edges(), 1.0)
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def build_torso():
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children = []
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# --- graphite waist collar (locked: dia 100, z 2..36) ----------------
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collar = Pos(0, 0, 19) * Cylinder(radius=50, height=34)
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collar = _safe_chamfer(collar, collar.edges(), 2.0)
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for zc in (9.0, 27.0):
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groove = Pos(0, 0, zc) * (
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Cylinder(radius=52, height=2.4) - Cylinder(radius=48, height=2.4)
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)
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collar = collar - groove
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children.append(styled(collar, "torso_waist_collar", STRUCT_COLOR))
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# --- graphite core + shoulder gusset barrels --------------------------
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outer = _loft_solid(_OUTER)
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inner = _loft_solid(_INNER)
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ring = outer - inner
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core = inner
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for sgn in (1.0, -1.0):
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gusset = Pos(0, sgn * 100.0, 290) * Rot(-90, 0, 0) * Cylinder(
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radius=40, height=24
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)
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gusset = _safe_chamfer(gusset, gusset.edges(), 1.5)
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core = core + gusset
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# side intake louvres: three slanted grooves cut into each flank
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for sgn in (1.0, -1.0):
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for xc in (-14.0, 4.0, 22.0):
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slot = Pos(xc, sgn * 90.0, 205) * Rot(0, -12, 0) * Box(9, 14, 64)
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core = core - slot
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# upper-chest sensor pocket (flat floor at x = 59)
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pocket = Pos(69.5, 0, 302) * Box(21, 48, 11)
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core = core - pocket
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children.append(styled(core, "torso_core", STRUCT_COLOR))
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# gloss-black sensor bar recessed in the pocket
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sensor = Pos(61.5, 0, 301.5) * Box(5, 44, 8)
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sensor = _safe_fillet(sensor, sensor.edges().filter_by(Axis.X), 2.0)
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children.append(styled(sensor, "torso_chest_sensor", VISOR_COLOR))
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# --- ice-gray armor panels (conformal ring pieces) --------------------
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# twin pectoral plates with a 10 mm center crease
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for sgn, tag in ((1.0, "l"), (-1.0, "r")):
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pec = _clip_panel(
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ring, _region((95, 68, 146), (47.5, sgn * 39.0, 223), 12)
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)
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children.append(styled(pec, f"torso_pec_panel_{tag}", SHELL_COLOR))
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# abdomen plate below an 8 mm horizontal reveal
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abdomen = _clip_panel(ring, _region((95, 90, 92), (47.5, 0, 98), 10))
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children.append(styled(abdomen, "torso_abdomen_panel", SHELL_COLOR))
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# thin backpack panels either side of the graphite spine column
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for sgn, tag in ((1.0, "l"), (-1.0, "r")):
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back = _clip_panel(
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ring, _region((65, 45, 220), (-62.5, sgn * 35.5, 180), 10)
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)
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children.append(styled(back, f"torso_back_panel_{tag}", SHELL_COLOR))
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# slim graphite spine column, flush with the back panels
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spine = _clip_panel(ring, _region((65, 16, 258), (-62.5, 0, 173), 6))
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children.append(styled(spine, "torso_spine_column", STRUCT_COLOR))
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# --- top deck + neck collar -------------------------------------------
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deck_specs = [
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(310.0, 110.0, 170.0, 30.0, 4.0),
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(318.0, 110.0, 170.0, 30.0, 4.0),
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]
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deck = _loft_solid(deck_specs)
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deck = _safe_chamfer(deck, deck.edges().group_by(Axis.Z)[-1], 2.5)
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children.append(styled(deck, "torso_top_deck", SHELL_COLOR))
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neck = Pos(0, 0, 321) * Cylinder(radius=26, height=6)
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neck = _safe_chamfer(neck, neck.edges().group_by(Axis.Z)[-1], 1.0)
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children.append(styled(neck, "torso_neck_collar", ALU_COLOR))
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# --- aluminum shoulder bosses (locked: dia 76, |y| 112..132) ----------
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for sgn, tag in ((1.0, "l"), (-1.0, "r")):
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boss = Pos(0, sgn * 122.0, 290) * Rot(-90, 0, 0) * Cylinder(
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radius=38, height=20
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)
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boss = _safe_chamfer(boss, boss.edges(), 2.0)
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groove = Pos(0, sgn * 126.0, 290) * Rot(-90, 0, 0) * (
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Cylinder(radius=39, height=2.5) - Cylinder(radius=36.5, height=2.5)
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)
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boss = boss - groove
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children.append(styled(boss, f"torso_shoulder_boss_{tag}", ALU_COLOR))
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return part_compound("torso", children)
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def gen_step():
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return build_torso()
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