y watertight solid -> STL (mm). Length adapts per joint. Thick by design (bears load). Target is the servo BODY CENTRE (not the output point): the output horn sticks ~18mm beyond the holder, so a beam to the output would leave a gap. Body centre guarantees the connector grips the holder. N)VectorCylinderAxis export_stlfillet)JOINTSROLLS servo_pose)gffffff@g333333#@@)g"@g.@g>@g0@g6@g @g@shoulder upper_arm lower_armwristgripper)c tddd}t|j}tjtjt dt d|j|}|j|}|jdkr tddd}|jtdt||S)Nrrgg?g& .>)rrr) r normalizedmathdegreesacosmaxmindotcrosslengthrotatertuple)solidaxis_veczaangaxs :/data/cameron/repos/smith300_para_stuff/so100_connector.py_orientr*sq!QA$$&A ,,tyyT3sAEE!H+=!>? @C B yy4 Aq!_ <<Yb 2C 88cBt|t|}}||z }tt||jt |}|j |j |j zdz |j|jzdz |j|jzdz fS)Nr) rr*rr r" translateXYZ)p1p2rvrods r)_rodr6#s R[&"+B RA (1ahh'q 2C ==244"$$;!+bddRTTkQ->PQ@QR SSr+c^tt|||jt|S)N)r*rr-r")centeraxisr3hs r)_cyl_atr;*s$ 8Aq>4 ( 2 25= AAr+c0t|\}}}}}}}}t|dz d}t|||t|\}} |jt| zdz} d} t | |t tt | |ttdzz } t| t| t} t| j}t t| t|tt}| | z|z} t!|j#t$}|S#t&$rY|SwxYw)zHk = child link index (1..5); connector built in child link k frame (mm).rrr )r r r r)rr r applyHOLDER_Cr;COLLAR_RCOLLAR_HBORE_Rr6r"ROD_RrrBOSS_RBOSS_HredgesFILLET_R Exception)k_xyzrpyr9lohipaR_st_sBAcollarbeamubossr#s r)buildrW.s &,Qi#Aq!S#tR Aq B#sD%(3HC 8 s "f,AA QHh /'!RTU2V VF 58U #D A 58U1Xvv 6D TMD E u{{}h/ L   L s(D DD__main__ so100_conn_z.stlzwrote z (validINVALID))$__doc__rnumpynp build123drrrrr so100_pararr r arrayr>rBr?r@rCrDrArFCHILD_OFr*r6r;rW__name__itemsrHchildr#fprintis_validr+r)rks  @@00 288$ % .,G)x66  kkg) T9TB& zNN$5a% %5! qcWIFaHI %r+