Draw the projection of the center of gravity on the ground plane

[mithi]

You'd need to update the following
1. The model VirtualHexapod to have an attribute that stores this point

hexapod-robot-simulator/hexapod/models.py

Line 95 in 531fbb3

class VirtualHexapod:

You can compute this point as outlined by the algorithm here, you should inject the point calculation to a different function and update the attribute of the VirtualHexapod when this is called in the two compute_orientation_properties of the hexapod.ground_contact_solver module.

hexapod-robot-simulator/hexapod/ground_contact_solver/helpers.py

Line 14 in 531fbb3

def is_stable(p1, p2, p3, tol=0.001):

2. In figure template, you should append a new point trace at the end of the data list

hexapod-robot-simulator/hexapod/templates/figure_template.py

Line 226 in 531fbb3

HEXAPOD_FIGURE = {

The trace has the following format

    {
        "marker": {"color": INSERT_COLOR_HERE, "opacity": 1.0, "size": INSERT_SIZE_HERE},
        "mode": "markers",
        "name": "cog-projection",
        "type": "scatter3d",
        "x": [INSERT_COG_X_HERE],
        "y": [INSERT_COG_Y_HERE,
        "z": [0],
    }

3. HexapodPlotter could draw this point in the figure template

hexapod-robot-simulator/hexapod/plotter.py

Line 14 in 531fbb3

def _draw_hexapod(fig, hexapod):

[markkulube]

@mithi This has been open for a couple months now.

Let me know when you think a "seasoned" contributor can take it on.....i would be interest!

[mithi]

@mithi This has been open for a couple months now.

Let me know when you think a "seasoned" contributor can take it on.....i would be interest!

Sure go ahead, if you have some time to tinker around ... I I currently don't have time to explain things in detail but by inspecting the code I'm sure you'll be able to figure things out on your own... 😄

here's the new guide to contributing.

[markkulube]

@mithi whaaatt? i like you detailed explanations, they get me thinking about clean code.

in all seriousness, thank you.

i only hope/expect can chime in when, and however you can.

so no pressure.

[markkulube]

Hi @mithi. Apologies for the very very very long delay. I am finally done with school, can get back to OSS contributions, and I can start working on this issue before I start work again.

Though, I notice you re-implemented this project in JS. So do you still need this feature here?

[mithi]

@markkulube

Hey! Long time no see 😄 This issue is open, so if you'd like to work on it, you're more than welcome 🙂

[markkulube]

@mithi a couple short questions:

1. What information is present in dimensions that I can use to initialize the point of projection for the self.projection_point attribute? The initial value is None or is it a Point/Vector as per points.py?
   class VirtualHexapod:
def __init__(self, dimensions):
self._store_attributes(dimensions)
self._init_legs()
self._init_local_frame()
self.projection_point = None

2. I understand calculation of the point is to be abstracted to it's own function e.g. compute_projection_point(---), but what are it's parameters? It would really help if there was a mathematical formula you had in mind thereby answering this question!

[mithi]

@markkulube

VirtualHexapod has a property self.body which is a Hexagon

hexapod-robot-simulator/hexapod/models.py

Line 61 in 531fbb3

class Hexagon:

Hexagon has a property self.cog this is the center of gravity which is of type point Point

The projection of the center of gravity is just a point where the z coordinate is zero. IE

cogProjection.x = cog.x
cogProjection.y = cog.y
cogProjection.z = 0

Thanks!