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Making progress on the lab...
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‎Week_8_matrices/.OTTER_LOG‎

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‎Week_8_matrices/Lab_8_matrices_kinematics.ipynb‎

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"editable": false
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},
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},
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"cell_type": "code",
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"execution_count": 5,
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"metadata": {
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"otter_answer_cell"
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},
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{
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"cell_type": "code",
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"execution_count": 6,
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},
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"outputs": [],
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"outputs": [
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{
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"data": {
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"text/html": [
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"<p><strong><pre style='display: inline;'>square_points</pre></strong> passed! 🌈</p>"
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],
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"text/plain": [
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"square_points results: All test cases passed!"
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]
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},
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"execution_count": 6,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"grader.check(\"square_points\")"
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]
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},
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{
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"cell_type": "code",
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},
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"execution_count": 8,
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"otter_answer_cell"
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 9,
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"metadata": {
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"tags": [
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"otter_answer_cell"
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]
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},
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"outputs": [],
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Class name: check_name, color: Grey\n",
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"Key: shape_to_use, Value: wedge\n",
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"Key: link_length, Value: 2.0\n",
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"Key: link_width, Value: 2.0\n",
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"Key: og_size, Value: 2.0\n",
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"Key: length_ratio, Value: 1.0\n",
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"Key: width_ratio, Value: 1.0\n",
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"Key: current_angle, Value: 0.0\n",
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"Key: rotate_angle, Value: 0.0\n",
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"Key: pts, Value:\n",
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"[[-1.000000 1.000000 0.800000 -0.800000 -1.000000]\n",
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" [-1.000000 -1.000000 1.000000 1.000000 -1.000000]\n",
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" [1.000000 1.000000 1.000000 1.000000 1.000000]]\n",
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"Key: mat_resize_shape, Value:\n",
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"[[1.000000 0.000000 0.000000]\n",
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" [0.000000 1.000000 0.000000]\n",
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" [0.000000 0.000000 1.000000]]\n",
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"Key: mat_rotate, Value:\n",
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"[[1.000000 0.000000 0.000000]\n",
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" [0.000000 1.000000 0.000000]\n",
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" [0.000000 0.000000 1.000000]]\n",
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"Key: mat_translate_shape, Value:\n",
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"[[1.000000 0.000000 1.000000]\n",
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" [0.000000 1.000000 0.000000]\n",
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" [0.000000 0.000000 1.000000]]\n",
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"\n"
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]
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}
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],
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"source": [
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"# I set up a convert-the-class-to-a-string method for you, which you can use to print out the class in a sort-of readable form\n",
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"# See the str method in the class\n",
@@ -239,13 +286,24 @@
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},
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{
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"cell_type": "code",
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"execution_count": 10,
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"otter_answer_cell"
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]
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},
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"outputs": [
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{
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"data": {
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"text/plain": [
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"Ellipsis"
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]
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},
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"execution_count": 10,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"# GUIDES: P2: Now set band_name to be your favorite band name HERE, by doing \n",
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"# arm_component_blank.band_name = \"band name\"\n",
@@ -258,26 +316,113 @@
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 11,
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"tags": [
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"otter_answer_cell"
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]
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},
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"outputs": [],
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Class name: check_name, color: Grey\n",
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"Key: shape_to_use, Value: wedge\n",
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"Key: link_length, Value: 2.0\n",
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"Key: link_width, Value: 2.0\n",
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"Key: og_size, Value: 2.0\n",
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"Key: length_ratio, Value: 1.0\n",
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"Key: width_ratio, Value: 1.0\n",
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"Key: current_angle, Value: 0.0\n",
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"Key: rotate_angle, Value: 0.0\n",
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"Key: pts, Value:\n",
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"[[-1.000000 1.000000 0.800000 -0.800000 -1.000000]\n",
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" [-1.000000 -1.000000 1.000000 1.000000 -1.000000]\n",
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" [1.000000 1.000000 1.000000 1.000000 1.000000]]\n",
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"Key: mat_resize_shape, Value:\n",
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"[[1.000000 0.000000 0.000000]\n",
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" [0.000000 1.000000 0.000000]\n",
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" [0.000000 0.000000 1.000000]]\n",
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"Key: mat_rotate, Value:\n",
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"[[1.000000 0.000000 0.000000]\n",
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" [0.000000 1.000000 0.000000]\n",
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" [0.000000 0.000000 1.000000]]\n",
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"Key: mat_translate_shape, Value:\n",
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"[[1.000000 0.000000 1.000000]\n",
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" [0.000000 1.000000 0.000000]\n",
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" [0.000000 0.000000 1.000000]]\n",
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"Key: band_name, Value: \n",
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"\n"
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]
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}
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],
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"# GUIDES: P3: When you print this time, band_name should be set to your favorite band \n",
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"print(arm_component_blank)"
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]
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"cell_type": "code",
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"execution_count": 12,
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{
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"data": {
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"text/html": [
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"<p><strong style='color: red;'><pre style='display: inline;'>init_method</pre> results:</strong></p><p><strong><pre style='display: inline;'>init_method - 1</pre> result:</strong></p><pre> ✅ Test case passed</pre><p><strong><pre style='display: inline;'>init_method - 2</pre> result:</strong></p><pre> ✅ Test case passed</pre><p><strong><pre style='display: inline;'>init_method - 3</pre> result:</strong></p><pre> ❌ Test case failed\n",
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" Trying:\n",
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" assert arm_component_blank.band_name != ''\n",
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" Expecting nothing\n",
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" **********************************************************************\n",
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" Line 1, in init_method 2\n",
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" Failed example:\n",
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" assert arm_component_blank.band_name != ''\n",
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" Exception raised:\n",
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" Traceback (most recent call last):\n",
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" File \"C:\\Users\\JPizzle\\AppData\\Roaming\\uv\\python\\cpython-3.12.7-windows-x86_64-none\\Lib\\doctest.py\", line 1368, in __run\n",
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" exec(compile(example.source, filename, \"single\",\n",
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" File \"<doctest init_method 2[0]>\", line 1, in <module>\n",
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" assert arm_component_blank.band_name != ''\n",
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" ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n",
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" AssertionError\n",
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"</pre>"
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],
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"text/plain": [
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"init_method results:\n",
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" init_method - 1 result:\n",
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" ✅ Test case passed\n",
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"\n",
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" init_method - 2 result:\n",
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" ✅ Test case passed\n",
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"\n",
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" init_method - 3 result:\n",
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" ❌ Test case failed\n",
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" Trying:\n",
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" assert arm_component_blank.band_name != ''\n",
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" Expecting nothing\n",
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" **********************************************************************\n",
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" Line 1, in init_method 2\n",
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" Failed example:\n",
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" assert arm_component_blank.band_name != ''\n",
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" Exception raised:\n",
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" Traceback (most recent call last):\n",
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" File \"C:\\Users\\JPizzle\\AppData\\Roaming\\uv\\python\\cpython-3.12.7-windows-x86_64-none\\Lib\\doctest.py\", line 1368, in __run\n",
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" exec(compile(example.source, filename, \"single\",\n",
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" File \"<doctest init_method 2[0]>\", line 1, in <module>\n",
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" assert arm_component_blank.band_name != ''\n",
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" ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n",
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" AssertionError"
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]
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},
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"execution_count": 12,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"grader.check(\"init_method\")"
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]
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"otter_answer_cell"
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]
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},
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"outputs": [
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{
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"ename": "AssertionError",
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"evalue": "",
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"output_type": "error",
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"traceback": [
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"\u001b[31m---------------------------------------------------------------------------\u001b[39m",
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"\u001b[31mAssertionError\u001b[39m Traceback (most recent call last)",
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"\u001b[36mCell\u001b[39m\u001b[36m \u001b[39m\u001b[32mIn[49]\u001b[39m\u001b[32m, line 18\u001b[39m\n\u001b[32m 14\u001b[39m \u001b[38;5;66;03m# to this one - we will be changing base sizes later\u001b[39;00m\n\u001b[32m 15\u001b[39m mat_base_check = np.array([[\u001b[32m0.5\u001b[39m, \u001b[32m0.0\u001b[39m, \u001b[32m0\u001b[39m], [\u001b[32m0.0\u001b[39m, \u001b[32m0.25\u001b[39m, \u001b[32m0.25\u001b[39m], [\u001b[32m0.0\u001b[39m, \u001b[32m0.0\u001b[39m, \u001b[32m1.0\u001b[39m]])\n\u001b[32m 16\u001b[39m \n\u001b[32m 17\u001b[39m \u001b[38;5;66;03m# Once this passes, copy the code into set_to_base_shape in arm component\u001b[39;00m\n\u001b[32m---> \u001b[39m\u001b[32m18\u001b[39m \u001b[38;5;28;01massert\u001b[39;00m np.all(np.isclose(mat_my_base, mat_base_check))\n",
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"\u001b[31mAssertionError\u001b[39m: "
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]
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}
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],
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],
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"metadata": {
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"kernelspec": {
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"display_name": "base",
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"display_name": "jpintropythonprogramming",
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"language": "python",
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"name": "python3"
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},
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.4"
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"version": "3.12.7"
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},
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"otter": {
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"OK_FORMAT": true,

‎Week_8_matrices/arm_component.py‎

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Original file line numberDiff line numberDiff line change
@@ -33,6 +33,14 @@ def __init__(self, name, color="Grey", shape_to_use="square"):
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# stored in the class
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self.name = name
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self.color = color
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self.shape_to_use = shape_to_use
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self.link_length = 2.0
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self.link_width = 2.0
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self.og_size = 2.0
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self.length_ratio = self.link_length / self.og_size
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self.width_ratio = self.link_width / self.og_size
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self.current_angle = 0.0
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self.rotate_angle = 0.0
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# Points - one of the nice things about using a class is you can do some "fancy" initialization. In
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# this case we're going to duplicate the last point in pts and make sure we have a 3xn+1 matrix
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# GUIDES Step 2: Make sure you change get_shape_matrix and get_pose_matrix to return the matrices you create
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# YOUR CODE HERE
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# mat_resize_shape
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self.mat_resize_shape = np.identity(3)
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scale_matrix = mt.make_scale_matrix(self.length_ratio, self.width_ratio)
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self.mat_resize_shape = scale_matrix @ self.mat_resize_shape
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# mat_rotate
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self.mat_rotate = np.identity(3)
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rotation_matrix = mt.make_rotation_matrix(np.deg2rad(self.current_angle + self.rotate_angle))
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self.mat_rotate = rotation_matrix @ self.mat_rotate
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# mat_translation_shape
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self.mat_translate_shape = np.identity(3)
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translation_matrix = mt.make_translation_matrix(self.length_ratio * self.og_size / 2, 0)
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self.mat_translate_shape = translation_matrix @ self.mat_translate_shape
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# Using the staticmethod decorator like this means that this method does not
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# If you're confused, look at points_in_a_wedge, above
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# YOUR CODE HERE
112+
pts_square = np.ones((3, 4))
113+
pts_square[0, :] = [-1, 1, 1, -1]
114+
pts_square[1, :] = [-1, -1, 1, 1]
115+
return pts_square
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def get_shape_matrix(self):
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""" Return the shape matrix"""
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# GUIDES STEP 2: Change this to return your shape matrix
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121+
return self.mat_resize_shape
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def get_pose_matrix(self):
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""" Return the pose matrix"""
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return self.mat_rotate @ self.mat_resize_shape
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99129
def set_to_base_shape(self, base_width=1.0, base_height=0.5):
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""" Position and orient the base of the arm (the wedge-shape at the bottom)

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