WBK-Robotics / pybullet_industrial

A simulation package extending pybullet for industrial robot applications
https://pybullet-industrial.readthedocs.io/en/latest/how_to_use.html
MIT License
35 stars 6 forks source link

Voxel wp #17

Closed liquidcronos closed 2 years ago

liquidcronos commented 2 years ago

Implemented a voxel material and a box particle spawner. Also included a remover class which can delete mat4erial from the simulation in preration of a milling tool.

Description

The extruder class was refractored into a ray casting tool and an extruder. A remover class was also created from the ray casting tool, which deletes particles instead of creating them.

Motivation and Context

This change is in preparation of milling and boring operations which include a remover as well as a force model.

How has this been tested?

Since the ray casting tool is thorougly tested as part of the extruder tests. The remove functionality was tested by checking wheter the remover can sucessfully remove particles created by an extruder.

Types of changes

Checklist:

codecov[bot] commented 2 years ago

Codecov Report

Merging #17 (672041b) into main (647a2f0) will increase coverage by 3.80%. The diff coverage is 95.55%.

@@            Coverage Diff             @@
##             main      #17      +/-   ##
==========================================
+ Coverage   69.12%   72.92%   +3.80%     
==========================================
  Files           7        9       +2     
  Lines         353      410      +57     
==========================================
+ Hits          244      299      +55     
- Misses        109      111       +2     
Impacted Files Coverage Δ
src/pybullet_industrial/__init__.py 100.00% <ø> (ø)
src/pybullet_industrial/material.py 86.44% <93.33%> (+7.13%) :arrow_up:
src/pybullet_industrial/raycaster.py 94.28% <94.28%> (ø)
src/pybullet_industrial/extruder.py 100.00% <100.00%> (+4.54%) :arrow_up:
src/pybullet_industrial/remover.py 100.00% <100.00%> (ø)

Continue to review full report at Codecov.

Legend - Click here to learn more Δ = absolute <relative> (impact), ø = not affected, ? = missing data Powered by Codecov. Last update 647a2f0...672041b. Read the comment docs.