添加show

plot.py

@@ -0,0 +1,288 @@
+import pyvista as pv
+import numpy as np
+
+class AIDog:
+    def __init__(self):
+        """初始化渲染器，启用高质量渲染"""
+        self.plotter = pv.Plotter()
+        # 启用抗锯齿和高质量渲染
+        self.plotter.enable_anti_aliasing()
+        self.plotter.enable_depth_peeling(10)
+        
+        # 添加快捷键
+        self.plotter.add_key_event('s', self.save_screenshot)
+        self.plotter.add_key_event('q', self.plotter.close)
+        
+        # 添加快捷键提示
+        self.plotter.add_text(
+            "Keyboard shortcuts:\n"
+            "S: Save screenshot\n"
+            "Q: Quit",
+            position='upper_left',
+            font_size=12,
+            color='black'
+        )
+        
+        # 整体下移的偏移量
+        self.z_offset = -0.1
+
+    def create_head(self):
+        """创建狗头"""
+        parts = []
+        
+        # 主体 - 使用圆柱体和球体组合
+        head_base = pv.Cylinder(
+            center=(0.25, 0, 0.33),
+            direction=(1, 0, 0),
+            radius=0.06,
+            height=0.1,
+            resolution=32
+        )
+        parts.append(head_base)
+        
+        # 头部圆角
+        head_front = pv.Sphere(
+            center=(0.3, 0, 0.33),
+            radius=0.06,
+            phi_resolution=32,
+            theta_resolution=32
+        )
+        head_back = pv.Sphere(
+            center=(0.2, 0, 0.33),
+            radius=0.06,
+            phi_resolution=32,
+            theta_resolution=32
+        )
+        parts.extend([head_front, head_back])
+        
+        # 眼睛外壳 - 凸起的圆柱体
+        left_eye_shell = pv.Cylinder(
+            center=(0.32, 0.04, 0.34),
+            direction=(1, 0.1, 0),
+            radius=0.015,
+            height=0.01,
+            resolution=32
+        )
+        right_eye_shell = pv.Cylinder(
+            center=(0.32, -0.04, 0.34),
+            direction=(1, -0.1, 0),
+            radius=0.015,
+            height=0.01,
+            resolution=32
+        )
+        parts.extend([left_eye_shell, right_eye_shell])
+        
+        # 眼睛镜片 - 稍微凸出的深色圆柱体
+        left_eye_lens = pv.Cylinder(
+            center=(0.325, 0.04, 0.34),
+            direction=(1, 0.1, 0),
+            radius=0.01,
+            height=0.005,
+            resolution=32
+        )
+        right_eye_lens = pv.Cylinder(
+            center=(0.325, -0.04, 0.34),
+            direction=(1, -0.1, 0),
+            radius=0.01,
+            height=0.005,
+            resolution=32
+        )
+        parts.extend([left_eye_lens, right_eye_lens])
+        
+        # 鼻子部分 - 传感器样式
+        nose = pv.Cylinder(
+            center=(0.35, 0, 0.32),
+            direction=(1, 0, 0),
+            radius=0.015,
+            height=0.01,
+            resolution=32
+        )
+        nose_sensor = pv.Cylinder(
+            center=(0.355, 0, 0.32),
+            direction=(1, 0, 0),
+            radius=0.01,
+            height=0.005,
+            resolution=32
+        )
+        parts.extend([nose, nose_sensor])
+        
+        return parts, [left_eye_lens, right_eye_lens, nose_sensor]  # 返回两组部件，第二组是深色部件
+
+    def create_body(self):
+        """创建机器狗躯干"""
+        parts = []
+        
+        # 主体 - 使用圆柱体组合
+        body_main = pv.Cylinder(
+            center=(0, 0, 0.3),
+            direction=(1, 0, 0),
+            radius=0.08,
+            height=0.3,
+            resolution=32
+        )
+        parts.append(body_main)
+        
+        # 前后圆角
+        front_cap = pv.Sphere(
+            center=(0.15, 0, 0.3),
+            radius=0.08,
+            phi_resolution=32,
+            theta_resolution=32
+        )
+        back_cap = pv.Sphere(
+            center=(-0.15, 0, 0.3),
+            radius=0.08,
+            phi_resolution=32,
+            theta_resolution=32
+        )
+        parts.extend([front_cap, back_cap])
+        
+        # 顶部装甲 - 更薄的圆柱体
+        top_armor = pv.Cylinder(
+            center=(0, 0, 0.36),
+            direction=(1, 0, 0),
+            radius=0.07,
+            height=0.25,
+            resolution=32
+        )
+        parts.append(top_armor)
+        
+        return parts
+
+    def create_leg(self, position, side='right'):
+        """创建单条腿"""
+        # 髋关节
+        hip = pv.Sphere(radius=0.03, center=position)
+        
+        # 大腿
+        thigh_length = 0.12
+        thigh_pos = (position[0], 
+                    position[1], 
+                    position[2] - thigh_length/2)
+        thigh = pv.Cylinder(
+            center=thigh_pos,
+            direction=(0, 0, 1),
+            radius=0.015,
+            height=thigh_length,
+            resolution=32
+        )
+        
+        # 膝关节
+        knee_pos = (position[0], 
+                   position[1], 
+                   position[2] - thigh_length)
+        knee = pv.Sphere(radius=0.02, center=knee_pos)
+        
+        # 小腿
+        shin_length = 0.15
+        shin_pos = (knee_pos[0],
+                   knee_pos[1],
+                   knee_pos[2] - shin_length/2)
+        shin = pv.Cylinder(
+            center=shin_pos,
+            direction=(0, 0, 1),
+            radius=0.012,
+            height=shin_length,
+            resolution=32
+        )
+        
+        # 脚部
+        foot_pos = (knee_pos[0],
+                   knee_pos[1],
+                   knee_pos[2] - shin_length)
+        foot = pv.Box(bounds=(
+            foot_pos[0]-0.02, foot_pos[0]+0.02,
+            foot_pos[1]-0.015, foot_pos[1]+0.015,
+            foot_pos[2]-0.01, foot_pos[2]+0.01
+        ))
+        
+        return [hip, thigh, knee, shin, foot]
+
+    def create_model(self):
+        """创建完整模型"""
+        # 材质颜色定义 - 更亮的金属色
+        colors = {
+            'head': '#BDC3C7',  # 更亮的金属灰
+            'body': '#BDC3C7',  # 更亮的金属灰
+            'limbs': '#95A5A6', # 金属灰
+            'sensors': '#34495E' # 深色传感器
+        }
+        
+        # 统一的金属材质参数 - 增加光泽
+        metal_props = {
+            'metallic': 0.9,
+            'roughness': 0.1,  # 降低粗糙度
+            'specular': 1.0,   # 增加反光
+            'specular_power': 20
+        }
+        
+        # 传感器材质参数
+        sensor_props = {
+            'metallic': 0.9,
+            'roughness': 0.1,
+            'specular': 1.0,
+            'specular_power': 20
+        }
+        
+        # 添加头部
+        head_parts, sensor_parts = self.create_head()
+        for part in head_parts:
+            self.plotter.add_mesh(part, 
+                                color=colors['head'],
+                                **metal_props)
+        # 添加深色传感器部件
+        for part in sensor_parts:
+            self.plotter.add_mesh(part,
+                                color=colors['sensors'],
+                                **sensor_props)
+        
+        # 添加躯干
+        for part in self.create_body():
+            self.plotter.add_mesh(part,
+                                color=colors['body'],
+                                **metal_props)
+            
+        # 添加四条腿
+        leg_positions = [
+            (0.12, 0.08, 0.3),   # 右前
+            (0.12, -0.08, 0.3),  # 左前
+            (-0.12, 0.08, 0.3),  # 右后
+            (-0.12, -0.08, 0.3)  # 左后
+        ]
+        
+        for pos in leg_positions:
+            for part in self.create_leg(pos):
+                self.plotter.add_mesh(part,
+                                    color=colors['limbs'],
+                                    **metal_props)
+
+        # 渲染设置 - 使用更亮的背景
+        self.plotter.set_background('#CCCCCC')  # 更亮的灰色背景
+        self.plotter.camera_position = 'iso'
+        self.plotter.camera.zoom(1.5)
+        
+    def show(self):
+        """显示模型"""
+        self.plotter.show()
+
+    def save_screenshot(self, filename=None):
+        """保存截图并显示提示"""
+        if filename is None:
+            from datetime import datetime
+            timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+            filename = f'aidog_{timestamp}.png'
+        
+        self.plotter.screenshot(filename)
+        print(f"Screenshot saved as: {filename}")
+        # 添加临时提示文字
+        self.plotter.add_text(
+            f"Saved: {filename}",
+            position='upper_right',
+            font_size=12,
+            color='black'
+        )
+
+if __name__ == '__main__':
+    dog = AIDog()
+    dog.create_model()
+    dog.show()

show.tex

@@ -0,0 +1,69 @@
+\documentclass{article}
+\usepackage{tikz}
+\usepackage{animate}
+
+\begin{document}
+
+\section{髋关节运动演示}
+
+% 定义髋关节绘制命令
+\newcommand{\drawHipJoint}[2]{  % #1:外展角度 #2:前后摆角度
+    \begin{tikzpicture}[scale=0.8]
+        % 电机本体
+        \draw[fill=gray!20] (0,0) circle (2);
+        
+        % 输出轴
+        \begin{scope}[rotate=#1]  % 外展旋转
+            \draw[thick] (-2.5,0) -- (2.5,0);
+            
+            % 轴承
+            \draw[fill=white] (2,0) circle (0.5);
+            \draw[fill=white] (-2,0) circle (0.5);
+            
+            % 连杆（带前后摆动）
+            \begin{scope}[shift={(2.5,0)}, rotate=#2]
+                \draw[thick,fill=gray!10] (0,-0.3) rectangle (3,0.3);
+            \end{scope}
+        \end{scope}
+        
+        % 标注
+        \node[below] at (0,-2.5) {外展角: #1°};
+        \node[above] at (0,2.5) {前后摆角: #2°};
+    \end{tikzpicture}
+}
+
+% 创建动画
+\begin{center}
+\begin{animateinline}[controls,loop]{10}  % 10fps
+    \multiframe{60}{rA=-45+1.5,rB=-60+2}{  % 60帧，角度从-45到45，-60到60
+        \drawHipJoint{\rA}{\rB}
+    }
+\end{animateinline}
+\end{center}
+
+% 添加关键参数说明
+\begin{itemize}
+    \item 运动范围：
+    \begin{itemize}
+        \item 内外摆：$\pm45^\circ$
+        \item 前后摆：$\pm60^\circ$
+    \end{itemize}
+    \item 轴承系统：
+    \begin{itemize}
+        \item 主轴承：7004C角接触轴承
+        \item 副轴承：608ZZ深沟球轴承
+    \end{itemize}
+    \item 减速系统：
+    \begin{itemize}
+        \item 谐波减速器：CSF-14-100
+        \item 减速比：1:100
+        \item 背隙：$<1$ arcmin
+    \end{itemize}
+    \item 扭矩输出：
+    \begin{itemize}
+        \item 额定：12N·m
+        \item 峰值：20N·m
+    \end{itemize}
+\end{itemize}
+
+\end{document}