diff --git a/README.md b/README.md index 044d8ec..b4beeac 100644 --- a/README.md +++ b/README.md @@ -17,10 +17,10 @@ This PhD-level course introduces digital fabrication methods and tools building | 07 | 21.04. | **Assembly of discrete elements II**
Applied exercise from design to planning fabrication for an assembly of discrete elements and preparation for control exercise.
👉[Go to lecture](lecture_07/README.md) | GKR (RR, BL, GC) | | 08 | 28.04. | **Robot control with COMPAS RRC**
Online non-real time control of industrial robots. Components of an RRC deployment. Communication primitives (blocking, futures, cyclic). Instructions. Multi controller & location coordination.
👉[Go to lecture](lecture_08/README.md) | GKR (RR, BL, GC) | | 09 | 05.05. | **Assembly of discrete elements III**
Continued applied exercise from planning data to robot control for an assembly of discrete elements.
👉[Go to lecture](lecture_09/README.md) | GKR (RR, BL, GC) | -| 10 | 12.05. | **COMPAS SLICER: Basics**
Introduction to COMPAS SLICER (presentation).
Planar slicing of simple geometry
Introducion to scalar field slicing.
👉[Go to lecture](lecture_10/README.md) | DBT & GKR (IM, JB) | -| 11 | 19.05. | **COMPAS SLICER: Advanced**
Introduction to non-planar slicing.
Non-planar slicing of a geometry.
Simulation and planning of robotic motion with COMPAS RRC. | DBT & GKR (IM, JB) | -| 12 | 26.05. | **Advancing computational research**
Research reproducibility and Upstreaming research output. | GKR (RR, BL, GC) | -| 13 | 02.06. | Closing | All | +| 10 | 12.05. | **COMPAS SLICER: Basics**
Introduction to COMPAS SLICER (presentation).
Planar slicing of simple geometry
Introducion to scalar field slicing.
👉[Go to lecture](lecture_10/README.md) | DBT & GKR (IM, JB) | +| 11 | 19.05. | **COMPAS SLICER: Advanced**
Introduction to non-planar slicing.
Non-planar slicing of a geometry.
Simulation and planning of robotic motion with COMPAS RRC.
👉[Go to lecture](lecture_11/README.md) | DBT & GKR (IM, JB) | +| 12 | 26.05. | **Advancing computational research**
Research reproducibility and Upstreaming research output.
👉[Go to lecture](lecture_12/README.md) | GKR (RR, BL, GC) | +| 13 | 02.06. | Closing | All | ## Information diff --git a/lecture_03/assignment_02/asling/Screenshot 2021-03-17 at 02.34.54.png b/lecture_03/assignment_02/asling/Screenshot 2021-03-17 at 02.34.54.png new file mode 100644 index 0000000..ea73ccb Binary files /dev/null and b/lecture_03/assignment_02/asling/Screenshot 2021-03-17 at 02.34.54.png differ diff --git a/lecture_03/assignment_02/asling/Screenshot 2021-03-20 at 01.01.51.png b/lecture_03/assignment_02/asling/Screenshot 2021-03-20 at 01.01.51.png new file mode 100644 index 0000000..2dc4322 Binary files /dev/null and b/lecture_03/assignment_02/asling/Screenshot 2021-03-20 at 01.01.51.png differ diff --git a/lecture_07/09_plan_placements.py b/lecture_07/09_plan_placements.py index ec1c873..50dcf71 100644 --- a/lecture_07/09_plan_placements.py +++ b/lecture_07/09_plan_placements.py @@ -86,5 +86,8 @@ built.append(key) + # if len(built) == 3: + # break + # Save assembly compas.json_dump(assembly, filename) diff --git a/lecture_07/20_assembly_viewer.ghx b/lecture_07/20_assembly_viewer.ghx index 715e64e..c7d21c5 100644 --- a/lecture_07/20_assembly_viewer.ghx +++ b/lecture_07/20_assembly_viewer.ghx @@ -48,10 +48,10 @@ - -244 - 134 + 48 + -82 - 0.614125133 + 1 @@ -73,8 +73,8 @@ - Bengesht, Version=3.3.0.0, Culture=neutral, PublicKeyToken=null - 3.3.0.0 + GhPython, Version=6.32.20340.21002, Culture=neutral, PublicKeyToken=null + 6.32.20340.21002 00000000-0000-0000-0000-000000000000 @@ -110,7 +110,7 @@ 37 95 - 110 + 107 22 @@ -141,7 +141,7 @@ 39 144 - 124 + 119 22 @@ -247,10 +247,10 @@ class ROSConnect(component): - 217 - 92 - 136 - 98 + 221 + 96 + 127 + 89 280 @@ -285,14 +285,14 @@ class ROSConnect(component): - 219 - 94 - 46 - 31 + 223 + 98 + 42 + 28 - 243.5 - 109.6667 + 245.5 + 112.1667 @@ -315,14 +315,14 @@ class ROSConnect(component): - 219 - 125 - 46 - 31 + 223 + 126 + 42 + 28 - 243.5 - 141 + 245.5 + 140.5 @@ -346,14 +346,14 @@ class ROSConnect(component): - 219 - 156 - 46 - 32 + 223 + 154 + 42 + 29 - 243.5 - 172.3333 + 245.5 + 168.8333 @@ -373,13 +373,13 @@ class ROSConnect(component): 295 - 94 - 56 - 94 + 98 + 51 + 85 - 323 - 141 + 320.5 + 140.5 @@ -490,10 +490,10 @@ class ROSRobot(component): - 636 - 102 - 124 - 85 + 641 + 108 + 113 + 74 706 @@ -529,14 +529,14 @@ class ROSRobot(component): - 638 - 104 - 53 - 40 + 643 + 110 + 48 + 35 - 666 - 124.25 + 668.5 + 127.5 @@ -561,14 +561,14 @@ class ROSRobot(component): - 638 - 144 - 53 - 41 + 643 + 145 + 48 + 35 - 666 - 164.75 + 668.5 + 162.5 @@ -588,13 +588,13 @@ class ROSRobot(component): 721 - 104 - 37 - 81 + 110 + 31 + 70 - 739.5 - 144.5 + 736.5 + 145 @@ -810,9 +810,9 @@ class RobotVisualize(component): - 2034 + 2039 108 - 243 + 235 84 @@ -853,13 +853,13 @@ class RobotVisualize(component): - 2036 + 2041 110 - 72 + 67 20 - 2073.5 + 2076 120 @@ -883,13 +883,13 @@ class RobotVisualize(component): - 2036 + 2041 130 - 72 + 67 20 - 2073.5 + 2076 140 @@ -914,13 +914,13 @@ class RobotVisualize(component): - 2036 + 2041 150 - 72 + 67 20 - 2073.5 + 2076 160 @@ -945,13 +945,13 @@ class RobotVisualize(component): - 2036 + 2041 170 - 72 + 67 20 - 2073.5 + 2076 180 @@ -973,11 +973,11 @@ class RobotVisualize(component): 2138 110 - 137 + 134 20 - 2206.5 + 2205 120 @@ -999,11 +999,11 @@ class RobotVisualize(component): 2138 130 - 137 + 134 20 - 2206.5 + 2205 140 @@ -1025,11 +1025,11 @@ class RobotVisualize(component): 2138 150 - 137 + 134 20 - 2206.5 + 2205 160 @@ -1051,11 +1051,11 @@ class RobotVisualize(component): 2138 170 - 137 + 134 20 - 2206.5 + 2205 180 @@ -1082,11 +1082,11 @@ class RobotVisualize(component): 40.30629 - 124.1853 + 122.3435 40.30629 - 124.1853 + 122.3435 70.67592 @@ -1108,7 +1108,7 @@ class RobotVisualize(component): 33.50171 35.30629 - 95.68359 + 93.8418 40.36963 @@ -1223,9 +1223,9 @@ class InverseKinematics(component): - 560 + 564 1346 - 207 + 198 84 @@ -1262,13 +1262,13 @@ class InverseKinematics(component): - 562 + 566 1348 - 98 + 94 20 - 612.5 + 614.5 1358 @@ -1292,13 +1292,13 @@ class InverseKinematics(component): - 562 + 566 1368 - 98 + 94 20 - 612.5 + 614.5 1378 @@ -1322,13 +1322,13 @@ class InverseKinematics(component): - 562 + 566 1388 - 98 + 94 20 - 612.5 + 614.5 1398 @@ -1352,13 +1352,13 @@ class InverseKinematics(component): - 562 + 566 1408 - 98 + 94 20 - 612.5 + 614.5 1418 @@ -1380,11 +1380,11 @@ class InverseKinematics(component): 690 1348 - 75 + 70 80 - 727.5 + 725 1388 @@ -1419,7 +1419,7 @@ class InverseKinematics(component): 1887 169 - 101 + 97 22 @@ -1469,11 +1469,11 @@ class InverseKinematics(component): 63.94735 - 2138.357 + 2131.61 63.94735 - 2138.357 + 2131.61 93.77645 @@ -1495,7 +1495,7 @@ class InverseKinematics(component): 1879.489 58.94735 - 263.8677 + 257.1211 39.8291 @@ -1551,16 +1551,16 @@ class InverseKinematics(component): 1283.32 - 299.2327 + 295.1887 1283.32 - 299.2327 - 1313.15 + 295.1887 + 1313.149 140.0774 - 1313.15 + 1313.149 A quick note Arial @@ -1577,7 +1577,7 @@ class InverseKinematics(component): 135.0774 1278.32 - 169.1553 + 165.1113 39.8291 @@ -1599,7 +1599,7 @@ class InverseKinematics(component): - 1VoLVBTXGZ6FZd3lZRSrOW2iE1/HeBS1JmmPepRlNqyr8pCHQdTIsDvsjs7OrDMDAmpDDYppjBEftD6aaqJIwFdNbZNahTSaRtIeSuJp9UhSm3pqlMZiUojaY+y981iY17IoRLvnzNkz/3/vnft/3/+4985YHYy7yE/Q/F3wMyEIEgWu+ABV5CXppcUEy5EMDVUZQAzV8DcANpH7zSZwD8HCJlGSOlpWuRxQbAOijrkM33Rkm7M+p+YPrp0xwwZksEQxSayE+migt2T5wCiegZI4leB82aUBAqojpQfHSbo0hvXjFNSMFp5WHeyVRVCEmyc8QV014hniIApJmuSBFRksEyBYniQ4eVh4mR04LzzHCm6O7LnWXvvVeWuMg+DcLBngJePhFBFzGu4n5DuAEF7qZZki2pPo9ZXYMsEMIFScDCP8xclSDLTj5acKEIHJLAOTlcaPkMSWbJz1EkLL4eCWAf/PgMucxzD+LoTLZ0UtAOYqHmWDEs1jbJnuwDy8lCniu7eNdoJ5BzSNY52z7fPIAhZnJYjk9lGapoO6UE0vgHYE28eCK0aUKXpBuUWUwwEiJFLNzpwuJ2l+vO1q55bU1IrD1SMn5ncsVwBuTmWKCRvG0DxO0qK/mSVv1WNrfDaL0xwFuEXH+UHPJ1GcRhnh+ShOMbQXxdFicMOwibEumuNx2k04i0iPPJeLNuvuxw58OHfv2Bd3Rb5dOEQ7F2sa6V6ukUbbeZ4lC4p4EcIgscnQUwTRKHjfSDmQ8tMYgqxPRpDJyVEZZDEjYDVC0PJA24zFBHAW9y8l6UARL4edycDeuGScI1AvwfgJni3VNelXozxjhsZMdDY8X3y4c/fY7ylMsjqlrhqzTE5ruvAoMejgBEyWLKaIdROCi4Gr/pMVNxI+M7kObPrO9TOm+XExolrhALBfmOAk+YH5ZwA4ATuC7LGrwClngLZJAY5JAifCAJzBsjMAmcS6LkLDDhzAUy+sx94qXf3XN6tuRioQsqQysL8Wn2wNPogKnxOtu7imNnzOb0bNzFhkHePuC3yaQ+JzDovPgLmb40EaBhkOD1KniWeT8AQAkNvXPTK1jcwZOO+TrY5cNXmN2cUTfgTpqgsWEVvYZipi9BudFCtSB7KS5NiWEI6dEAxkT2j3Pjsf4dkx37VvTPqyhRntSLh390b0+EHC56e8RPLfzXr8NJYJ/qsAwRQWCIWw8gk+7AGM6oLw8uK2L29Vvjx7752s7IT6IW0KEGzBUbQo5PYPCs0hUTiHSSXBhBiUhPrEdxY80fI1tu1j6nz7J9fOK+yJXiC4G5q7ME9bGCwGUI7FWAJWBTn9o4Us40dXlZSWrUHdjD/A0CBiOP2i8OmS47HTLm+fu2UTe6Jk1bX1RrPRwBsJdOFWhukOBLkEYFsLKkO5ujKUY0DbrqkMFsQ4+Q2R5rWqpJuBuuatSPAvfK9meHrFpl9gt1//qkVhXkxuV+9vw32SZgBL/w5wyNdzn/yZQPvPB5Pk6CJ/gehnlm5pTV2PwqKktCdKJu1L2noYpVxV41f+8uaP13QoKVkYipKF/UNJW0hK2h9WSuDwoZYIQUrKeqLkdy8wm1Ps+5O2vOvfQV0+vURJSV4oSvJ6XCmsvdPWat2YkFZztqHlUOtLxfe7UoCMdYRk7PbDxFivVgaPSJS5wa6LZ4vc+nSp117KNZ04hJapBX0fPE4pn20AVLRrqHCBcvh57xYFcZL9FEF7eZ+u8SvZp4a4ZuWn7C2ZwB6NSjupNH6e0FFr/Lz+Mb49pPFfy2uBCMRgLXC64qX0stVk6tHXH51xYmocqjAmKoPCadX+MNR+6QdSSw4sBNwMRYl7cZQpRHkfSxATPaSfoDkBBBQvIbmJXCmIED+nC/Nh38kpqxLr5tRjsy74Cssu6sxMuyTIoOge00GS908YcvX4vLr3O69XJH9x7H7TgRUA3QBomA3WFo0qGior4x2+q2dkGiL//2jwPvPOmLO7dqRsWb/11B7rFaTPaFBvLe6ThvwXpc2/Hg3XN68HNDTJNJiNaDhVs3Fm7Z0jc443zsj+4AQ3WBnaaUJ6DZ+HSYY8FFIM2HPQXjTAkDSPinlbH3918dKbkpYAIO+RgJMH//jnmedaHNtv/2XR9oVrRvZBHCD/MSBg/KF4x7aht2UCoowIGPrZK47B05qxvU//o+HIBysdPcaBTRplEFbE8Yxf74gxWlR1HwmJl2Qq3Gy8G5ADqgXR73GlzkLhxFXX9O65mJgM2Cv/CBOz2E6BPYknixFP36w7ti8h0Zz868WP7qwJpO7vkafoPuUpmp/8rRHVeeWpA69OetJVtazaui7dvSUcorrNr8cwVCfYMMPQiMj8TVIerOlO5AAjIkMGnG7G69uIs5YBWgo5gu+3BKpOc2El0OC0+iXQhDT5k+78WI34qd773sY9nddcr12IfQt747BHeQCXm4fqxBosb5EGNWngcwxLeVDQMQA76h/JDKsd1F46dUVq1QZi5N/Mtv/qP1QDWkRuXpi1AhkNnPSUdB5zSb10RSYIR316J/VGO82B6SzpJQXXEOzSNav6/GYsb81Z17rcxM/zc+b8W+kJ4gjahXt6jxGsXqneZyEtHy0tKOFJtLqQIo1jBXAexP4yGmMY1kPS0rs949PoXu4545U+qcvdrSV1n15/rNZVVVCZE/lGVm44WdiU0ed7rsZJEjflutxMEbiRYtpmFNO2uTc6f+rxPFsRabvclrd8rcKW2EyGh0epBnFtNsBwPPAHeAgtQoiycBCYK3HhbaokLZsIq50uvrertn0UcXFXeh333LTWxJafGc9J+4ouA6jD9e3pMn56r+iSMM1bKDnwjXxnoDAnlGdEk/Wd59VHIt717j6Hvbh9+taYu9iMe3UeVdyrffI+4x6ZAaxvNDpXQmdqkmJPb+imZ8peMM4N50SwqJti3MtXkhx8dav1DBRkUBb3kDit7yTk9CnrznRkuXZueG3/9eVP/FyJo532Ujo42nsRhDkc4SC8YInWVUJ7A15TSPCaH4ZDuRHr2ua/PfxWQ68SZJwYf54Q+VH9tvgB5UfEKfkwzI+oOr4Rl0CSlB+jjfLjlH2ZZxYdeTOldt/AD3//o45qpS3Cdxb6mwswG1b6bCbIIsZQwCIogl+v3K2sq9ZDeLgdhd+dBOACwsniHOdjAgEQL+LHDVwEmLgU9Oq1EVCZJJU6hwJVhKRaXX+wYtSNrOR9O5oO3vnhYJvV5ViqwFj4nEOP2GO5g8a88vwC59p41/d9nWs36YChIVbNFiKzJQIfYwR8DrX4hZSb1jm7dza3jlv8/jfKdV8WAK2ggFIVpTh5oGSG8gQjKgLDZdYnTxjhuJJ1FIvACmTRuNZMSeTuLqpM/C0Qebp3hCI9vmLt6IoiYDVKMzxhTmFEIMU0xJI4pQulmgSLi8cp0h30fX1ztXsDWWPOIssEqfgFUa3dnE2UBCeSYPcsA1seWJpyMp8WN4PhRdHkfz3uuPLxIexSQy6G1H2hSmYynv8D + 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 Contains a cluster of Grasshopper components 1 @@ -1623,10 +1623,10 @@ class InverseKinematics(component): - 141 - 1349 - 144 - 46 + 145 + 1350 + 137 + 44 207 @@ -1656,14 +1656,14 @@ class InverseKinematics(component): - 143 - 1351 - 49 - 21 + 147 + 1352 + 45 + 20 - 169 - 1361.5 + 171 + 1362 @@ -1683,14 +1683,14 @@ class InverseKinematics(component): - 143 + 147 1372 - 49 - 21 + 45 + 20 - 169 - 1382.5 + 171 + 1382 @@ -1730,12 +1730,12 @@ class InverseKinematics(component): 222 - 1351 - 61 - 42 + 1352 + 58 + 40 - 252.5 + 251 1372 @@ -1803,10 +1803,10 @@ if robot and robot.client and robot.client.is_connected: - 233 - 296 - 159 - 64 + 237 + 290 + 148 + 76 299 @@ -1843,14 +1843,14 @@ if robot and robot.client and robot.client.is_connected: - 235 - 298 - 49 - 20 + 239 + 292 + 45 + 24 - 261 - 308 + 263 + 304 @@ -1874,13 +1874,13 @@ if robot and robot.client and robot.client.is_connected: - 235 - 318 - 49 - 20 + 239 + 316 + 45 + 24 - 261 + 263 328 @@ -1905,14 +1905,14 @@ if robot and robot.client and robot.client.is_connected: - 235 - 338 - 49 - 20 + 239 + 340 + 45 + 24 - 261 - 348 + 263 + 352 @@ -1932,12 +1932,12 @@ if robot and robot.client and robot.client.is_connected: 314 - 298 - 76 - 60 + 292 + 69 + 72 - 352 + 348.5 328 @@ -1972,7 +1972,7 @@ if robot and robot.client and robot.client.is_connected: 42 317 - 101 + 98 22 @@ -2023,11 +2023,11 @@ if robot and robot.client and robot.client.is_connected: 260.852 - 124.5809 + 122.3988 260.852 - 124.5809 + 122.3988 290.6811 @@ -2049,7 +2049,7 @@ if robot and robot.client and robot.client.is_connected: 37.62092 255.852 - 91.95995 + 89.77783 39.8291 @@ -2121,11 +2121,11 @@ if robot and robot.client and robot.client.is_connected: -66.21291 - 155.8916 + 152.6836 -66.21291 - 155.8916 + 152.6836 -33.45168 @@ -2147,7 +2147,7 @@ if robot and robot.client and robot.client.is_connected: 16.68259 -71.21291 - 144.209 + 141.001 42.76123 @@ -2174,11 +2174,11 @@ if robot and robot.client and robot.client.is_connected: -48.86444 - 2095.149 + 2090.425 -48.86444 - 2095.149 + 2090.425 -15.55389 @@ -2200,7 +2200,7 @@ if robot and robot.client and robot.client.is_connected: 1903.316 -53.86444 - 196.8334 + 192.1093 43.31055 @@ -2346,10 +2346,10 @@ class TrajectoryVisualize(component): - 827 - 1346 - 188 - 140 + 831 + 1351 + 180 + 129 897 @@ -2388,14 +2388,14 @@ class TrajectoryVisualize(component): - 829 - 1348 - 53 - 45 + 833 + 1353 + 49 + 41 - 857 - 1370.667 + 859 + 1373.833 @@ -2418,14 +2418,14 @@ class TrajectoryVisualize(component): - 829 - 1393 - 53 - 45 + 833 + 1394 + 49 + 42 - 857 - 1416 + 859 + 1415.5 @@ -2448,14 +2448,14 @@ class TrajectoryVisualize(component): - 829 - 1438 - 53 - 46 + 833 + 1436 + 49 + 42 - 857 - 1461.333 + 859 + 1457.167 @@ -2475,13 +2475,13 @@ class TrajectoryVisualize(component): 912 - 1348 - 101 - 27 + 1353 + 97 + 25 - 962.5 - 1361.6 + 960.5 + 1365.5 @@ -2501,13 +2501,13 @@ class TrajectoryVisualize(component): 912 - 1375 - 101 - 27 + 1378 + 97 + 25 - 962.5 - 1388.8 + 960.5 + 1390.5 @@ -2527,13 +2527,13 @@ class TrajectoryVisualize(component): 912 - 1402 - 101 - 27 + 1403 + 97 + 25 - 962.5 - 1416 + 960.5 + 1415.5 @@ -2553,13 +2553,13 @@ class TrajectoryVisualize(component): 912 - 1429 - 101 - 27 + 1428 + 97 + 25 - 962.5 - 1443.2 + 960.5 + 1440.5 @@ -2579,13 +2579,13 @@ class TrajectoryVisualize(component): 912 - 1456 - 101 - 28 + 1453 + 97 + 25 - 962.5 - 1470.4 + 960.5 + 1465.5 @@ -2639,10 +2639,10 @@ assembly = compas.json_load(os.path.join(HERE, filename)) - 1063 - 404 - 138 - 108 + 1068 + 408 + 129 + 99 1129 @@ -2677,14 +2677,14 @@ assembly = compas.json_load(os.path.join(HERE, filename)) - 1065 - 406 - 49 - 52 + 1070 + 410 + 44 + 47 - 1091 - 432 + 1093.5 + 433.75 @@ -2708,14 +2708,14 @@ assembly = compas.json_load(os.path.join(HERE, filename)) - 1065 - 458 - 49 - 52 + 1070 + 457 + 44 + 48 - 1091 - 484 + 1093.5 + 481.25 @@ -2735,13 +2735,13 @@ assembly = compas.json_load(os.path.join(HERE, filename)) 1144 - 406 - 55 - 104 + 410 + 51 + 95 - 1171.5 - 458 + 1169.5 + 457.5 @@ -2797,11 +2797,11 @@ assembly = compas.json_load(os.path.join(HERE, filename)) 355.7704 - 1206.82 + 1201.695 355.7704 - 1206.82 + 1201.695 393.7474 @@ -2823,7 +2823,7 @@ assembly = compas.json_load(os.path.join(HERE, filename)) 1003.647 350.7704 - 208.1733 + 203.0483 47.97705 @@ -2896,10 +2896,10 @@ if robot and robot.client and robot.client.is_connected: - 171 - 452 - 75 - 44 + 175 + 448 + 71 + 52 232 @@ -2934,14 +2934,14 @@ if robot and robot.client and robot.client.is_connected: - 173 - 454 - 44 - 20 + 177 + 450 + 40 + 24 - 196.5 - 464 + 198.5 + 462 @@ -2966,14 +2966,14 @@ if robot and robot.client and robot.client.is_connected: - 173 + 177 474 - 44 - 20 + 40 + 24 - 196.5 - 484 + 198.5 + 486 @@ -3026,11 +3026,11 @@ if robot and robot.client and robot.client.is_connected: 408.1774 - 312.0782 + 304.7911 408.1774 - 312.0782 + 304.7911 446.6549 @@ -3052,7 +3052,7 @@ if robot and robot.client and robot.client.is_connected: 36.67443 403.1774 - 280.4038 + 273.1167 48.47754 @@ -3072,9 +3072,8 @@ if robot and robot.client and robot.client.is_connected: - + Contains a collection of polygon meshes - true 0537b60f-7f96-49a3-b431-b4a28816c768 Mesh Mesh @@ -3086,9 +3085,9 @@ if robot and robot.client and robot.client.is_connected: 48 - 472 + 474 50 - 24 + 20 73.94705 @@ -3110,7 +3109,7 @@ if robot and robot.client and robot.client.is_connected: - Y2BkYGD4DwQgGgR4mIBEWFBGZl6+c35ubn6ejkJYalFxZn6erZmesYmekaEBkDQ3MDDUUXAuzSkpLUq1zUstLSlKzNFRCChNyslM9k6tDMnPTs2zNTU1MrIwTLU0TzY3NTU1NmAFWSIMNlvPPTU/N7WkqFLPN7U4gwUozl4GsYYrsSg5I7Ms1TgllzO/IDUvr7QoqZglJbEkEaSIg4ODCeRCAXUGBhsg/bWio4eTGcjgBxFKrAwMTL/qmRjEWCG++f2fiUEE6rMnV677ub+8LLj/KYNAM6PSB92d0jF/gPL3WCDyFhpAQoYBDXx5bw9jhi+866IW+s5e6uUncYsuiQPe8pH92bo/7V9s6lnA8vz7fv4fAhy+snfs0Y3wYfPYnx0lvD/z1YN9+Re87B+KZkPVNNgj4f1IGEUMFGqMDA0MDiVQA2E+YmBEtwoIdJ1lXj8yk0JzhYQDFqUooN3luZdE+DawPiaE8AN7Bka7IHltmHWMDCwsTMysrOxsXFwcnNzcvDwCAnz8goLCQmJiIqLi4jKyEhIykvLyclKysjLycnJy8tLSKgqqqirqiopqKkBaTV1dTVldnZGFlZWJlYWFnYubm4Obi4tXQFCQT1BAQFhMXFxEXExMTlZGRk1VSekB0NLsD9z54ABohjqq4tbntM835ouq7pnPyLFn4ZuecP5vjTf4XTa/TXykYObzp3TmPlkfmSPHltu9b5pu6yNzjK3z/MsbKbzC7Rs/rmTfmPiuZWPiI4PvB278uFL9+IP+CV6DQgnp2fsnnHUpU9800+C7wm/Bm3NPlC1s1920/8LfPpl/JxI7ZPhO1DFuZAzYsu+n9fUdC0Hu6p366zTYXfpwdyUnZNw4z8A+ZYOkVMOJeUVmMT1OZjfO/BWYFWR2p3ZLQrDim8LNjLvaLG7qfwkVcgCacfHH11ywGfPhZvie28t7yIGHNaFbz9fLatoOps5jfq1HuHomSh8Imdk8TVeicRprUNCESUx/cooLLr18ubnW3sVl6eocx+/Xp3pvN+jhub4t8czZ32sVll8NzKjYfNtoTSbv/7WXF3+vPnk/xiLm8tW/bxXLDx97XxrdZro2Uelkpeb0wBdrElVyvlbm/t/pudo83X6/+tMPX/ZxP09c39/zM9625x/7PceQg0dd9/7Al4QagOkme/J9GbB/5sH9M7nqp+edRd6PGJhFPBx//rFnsahJfX9D/Y3l/305TQIxcsfaT77nrbohc0+ba3r7x86r/Bv7mc/W8e34I908eb967NPm04d/HHn1fVr/m/PX/u6UV+N/vHhXP+fZWh+X1+1c5gYLmthC/upf/LLf5fr5D0nB55mmPb//ffFM5s3n5UBKVzefsL//ntVQ3tnW5x6/Vn+s/d+37AwTpc7nflpr0QVy6RKk3IQtR6VVM/+DsD5g5G3sgPrqQO6yUSruZYQ6MOEkw0tg4cDg4Jv9CEQzAAseEH2AN+ol2NA9SW/hhtu83Rf1v56pAcbnJs7WUTAKRsEoGAXDAQAA + Y2BkYGD4DwQgGgR4mIBEeFBGZl6+c35ubn6ejkJYalFxZn6erZmesZGekYGxiYGekaGBgZGOgnNpTklpUaptXmppSVFijo5CQGlSTmayd2plSH52ap6tqamRkYVhqqV5srmpqamxASvIFmGw4Xruqfm5qSVFlXq+qcUZLEBx9jKIPVyJRckZmWWpxim5nPkFqXl5pUVJxSwpiSWJIEUcHBxMICcKqDMw2ABppoqGHk5mIIMfRCixAkV+1TMxiLFCvPP7PxODCNRrT65c93N/eVlw/1MGgWZGpQ+6O6Vj/gDl77FA5C00gIQMAxr48t4exgxfeNdFLfSdvdTLT+IWXRIHvOUj+7N1f9q/2NSzgOX59/38PwQ4fGXv2KMb4cPmsT87Snh/5qsH+/IveNk/FM2GqmmwR8L7kTCKGCjUGBkaGBxKoAbCfMTAiG4VEOg6y7x+ZCaF5goJByxKUUC7y3MvifBtYH1MCOEH9gyMdkHy2jDrGBlYWJiYWVnZ2bi4ODi5uXl5BAT4+AUFhYXExERExcVlZCUkZCTl5eWkZGVl5OXk5OSlpVUUVFVV1BUV1VSAtJq6upqyujojCysrEysLCzsXNzcHNxcXr4CgIJ+ggICwmLi4iLiYmJysjIyaqpLSA6Cl2R+488EB0Ax1VMWtz2mfb8wXVd0zn5Fjz8I3PeH83xpv8Ltsfpv4SMHM50/pzH2yPjJHji23e9803dZH5hhb5/mXN1J4hds3flzJvjHxXcvGxEcG3w/c+HGl+vEH/RO8BoUS0rP3TzjrUqa+aabBd4Xfgjfnnihb2K67af+Fv30y/04kdsjwnahj3MgYsGXfT+vrOxaC3NU79ddpsLv04e5KTsi4cZ6BfcoGSamGE/OKzGJ6nMxunPkrMCvI7E7tloRgxTeFmxl3tVnc1P8SKuQANOPij6+5YDPmw83wPbeX95ADD2tCt56vl9W0HUydx/xaj3D1TJQ+EDKzeZquROM01qCgCZOY/uQUF1x6+XJzrb2Ly9LVOY7fr0/13m7Qw3N9W+KZs7/XKiy/GphRsfm20ZpM3v9rLy/+Xn3yfoxFzOWrf98qlh8+9r40us10baLSyUrN6YEv1iSq5HytzP2/03O1ebr9fvWnH77s436euL6/52e8bc8/9nuOIQePuu79gS8JNQDTTfbk+zJg/8yD+2dy1U/PO4u8HzEwi3g4/vxjz2JRk/r+hvoby//7cpoEYuSOtZ98z1t1Q+aeNtf09o+dV/k39jOfrePb8Ue6efJ+9dinzacP/zjy6vu0/jfnr/3dKa/G/3jxrn7Os7U+Lq/bucwNFjSxhfzVv/hlv8v18x+Sgs8zTXt+//vimcybz8uBlK5uPmF//z2robyzrc89fq3+WPu/b9kZJkqdz/201qIL5NIlSLkJW45Kq2b+B2F9wMjb2AH11YHcZaNU3MsIdWDCSYaXwMKBwcE3+xGIZgAWPCD6AG/US7Che5Lewg23ebsv6n89UwOMz02craNgFIyCUTAKhgUAAA== 00000000-0000-0000-0000-000000000000 @@ -3201,9 +3200,9 @@ if robot and robot.client and robot.client.is_connected: - 1892 + 1897 358 - 64 + 58 64 @@ -3237,13 +3236,13 @@ if robot and robot.client and robot.client.is_connected: - 1894 + 1899 360 - 17 + 12 20 - 1904 + 1906.5 370 @@ -3264,13 +3263,13 @@ if robot and robot.client and robot.client.is_connected: - 1894 + 1899 380 - 17 + 12 20 - 1904 + 1906.5 390 @@ -3310,13 +3309,13 @@ if robot and robot.client and robot.client.is_connected: - 1894 + 1899 400 - 17 + 12 20 - 1904 + 1906.5 410 @@ -3359,11 +3358,11 @@ if robot and robot.client and robot.client.is_connected: 1941 360 - 13 + 12 60 - 1947.5 + 1947 390 @@ -3430,7 +3429,13 @@ if robot and robot.client and robot.client.is_connected: - from compas_fab.robots import JointTrajectory + # Mac will not automatically do this so, here we go +import os +import sys +HERE = os.path.dirname(ghenv.Component.OnPingDocument().FilePath) +if HERE not in sys.path: sys.path.append(HERE) + +from compas_fab.robots import JointTrajectory from compas_ghpython.artists import MeshArtist #from helpers import traversal_buildup_sequence #from helpers import traversal_breadth_first_ordering @@ -3454,8 +3459,8 @@ if assembly: pick_trajectory = assembly.pick_trajectory GhPython provides a Python script component - 814 - 327 + 365 + 240 947 @@ -3475,10 +3480,10 @@ if assembly: - 1363 - 434 - 166 - 79 + 1367 + 438 + 159 + 72 1432 @@ -3515,14 +3520,14 @@ if assembly: - 1365 - 436 - 52 - 37 + 1369 + 440 + 48 + 34 - 1392.5 - 454.75 + 1394.5 + 457 @@ -3546,14 +3551,14 @@ if assembly: - 1365 - 473 - 52 - 38 + 1369 + 474 + 48 + 34 - 1392.5 - 492.25 + 1394.5 + 491 @@ -3573,13 +3578,13 @@ if assembly: 1447 - 436 - 80 - 25 + 440 + 77 + 22 - 1487 - 448.5 + 1485.5 + 451.3333 @@ -3599,13 +3604,13 @@ if assembly: 1447 - 461 - 80 - 25 + 462 + 77 + 23 - 1487 - 473.5 + 1485.5 + 474 @@ -3625,13 +3630,13 @@ if assembly: 1447 - 486 - 80 - 25 + 485 + 77 + 23 - 1487 - 498.5 + 1485.5 + 496.6667 @@ -3821,10 +3826,10 @@ class TrajectoryVisualize(component): - 1622 - 368 - 188 - 140 + 1626 + 373 + 180 + 129 1692 @@ -3864,14 +3869,14 @@ class TrajectoryVisualize(component): - 1624 - 370 - 53 - 45 + 1628 + 375 + 49 + 41 - 1652 - 392.6667 + 1654 + 395.8333 @@ -3894,14 +3899,14 @@ class TrajectoryVisualize(component): - 1624 - 415 - 53 - 45 + 1628 + 416 + 49 + 42 - 1652 - 438 + 1654 + 437.5 @@ -3925,14 +3930,14 @@ class TrajectoryVisualize(component): - 1624 - 460 - 53 - 46 + 1628 + 458 + 49 + 42 - 1652 - 483.3333 + 1654 + 479.1667 @@ -3952,13 +3957,13 @@ class TrajectoryVisualize(component): 1707 - 370 - 101 - 27 + 375 + 97 + 25 - 1757.5 - 383.6 + 1755.5 + 387.5 @@ -3978,13 +3983,13 @@ class TrajectoryVisualize(component): 1707 - 397 - 101 - 27 + 400 + 97 + 25 - 1757.5 - 410.8 + 1755.5 + 412.5 @@ -4004,13 +4009,13 @@ class TrajectoryVisualize(component): 1707 - 424 - 101 - 27 + 425 + 97 + 25 - 1757.5 - 438 + 1755.5 + 437.5 @@ -4030,13 +4035,13 @@ class TrajectoryVisualize(component): 1707 - 451 - 101 - 27 + 450 + 97 + 25 - 1757.5 - 465.2 + 1755.5 + 462.5 @@ -4056,13 +4061,13 @@ class TrajectoryVisualize(component): 1707 - 478 - 101 - 28 + 475 + 97 + 25 - 1757.5 - 492.4 + 1755.5 + 487.5 @@ -4095,9 +4100,9 @@ class TrajectoryVisualize(component): 1554 - 495 + 497 50 - 24 + 20 1579.864 @@ -4116,7 +4121,7 @@ class TrajectoryVisualize(component): - 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AEJciJjLysoCS4Qj5kQQIxYrKyu7u3v6RnqYgZAyUPR9ZMMdumTTgppF5IMVCDUFxVLo/ZQv7k25I83IyIfl5pTciow7dfKopcVZobswP68sPT0vXZaXmVmQlCh1EQ67ez/eO/l+JvR+5Ow+GxQYEh11s7wsraYqc3S4STHTMz3VRdlkp75B28xUt3Z5OCAwzsImc26OYqZ/HlpwOvmbZgQThByLTiRSHo8Hikib4IHQrKBVXl6OHgzDmIaGhtjYWCRYXGL4iQMgQVQmk+GqXrnx/6kgI35aHYiQNmBzES+j+KRKRM4Q1iQXsYbvscETtKVIs9PT7yYn56ellYSExNnZ2YnFQh5PnJ9fh35YZmZZUlKmiwgIn+yZ9gDbcPNc5/JbOK5VPte6g24OBYQMhISN3owYCw4duRbcH2CwkAG/gE6hR4GZRYmn38D8vGpPYQiEqGIGBwcRgoCBWARjW1tbIMRaiAH4iLjEKcIYcYlAxJGsoDqdjrwTCE16HV3BwNbWFiyiYMwwhDCEHVUieqw68qdB0dqh19y275JlVIo0C/z8/EKvXo3w9g4xN7fgcJw4HPfs7KqUlCJYWlpxfLyMjsJXQ+j90M1j3t2jU+gpdxN38UWdOJpZFB4/IzW3uSvy6hNc6XG7gtTdyxM0Wdqm2znlc/iDoVHrz28qUIzk5uaiyMRSR1bHtrY2JFILC4sLFy7Qi2Yd4g/AQI6siBAQ1tAi+RNaXFzo7e0rKrpbUVEDq6mpxZvBPIQ7RkpEqpQX+Txzce9JiE+VSgthMtnd4OBYExMTe3tbJydBTk51amoxTCYriYlJ5YsnxH7buIreCVCbAWL0PNQqSyfnh9Ra6/2ML2pPS5VmZRZkpOfJZDmytNzTp45ZW501NzeLibl9KzI2Li4pPDzq1q246OjbaalZV6/Gevl1w9HPIywuLsZihjWvuroa1Q1WOETh8ePHL126hGBCFQqKWPmwEGI5JAJO8N79L246nTYrK9/ZWeLs7MXn+0ulstHRkcOJcI4jfOLm9a2b19OD7VuB104weT91EcrjYqVJSXmJiblSaVFgYNSpU6cdHOytrBzDwpLw8erV8ICAyKioJCvbHHuXWWwA7JxH7Zzv2XKHbTiDqJKwaUF+trLvIfsENC7ayK1toyMiYnHttWsRPj43rl+POXv2vFAoMDW9FB6eHBGRHBWVEhwcg68IC0tMiJf5X02W+Pc+jxB7CRSQIITlEOFF9uyWlpaoSHEk/3sNAjbs9gzCR5DG0fBvNWDZ0NB861ZCbCy+OlEmy6ivrzucCDUcwZy7V5/Qa1BvEtIY2OlBo1/gOYZYNCCMjkpOSMiJj89KSsq/di3y2LEvLSzMLS0d4N+goJjg4DgACA+Pt7YvdOSrsTF3dJ124iuwmnIFKmf3OezTscpir4IqlO+x6uYJ2+IJmuPj7iQkZN++nZOUlBsbm2Fics7VlXfu3MXU1BLkbbwxOOKlSUkpTpcV+fhl+AZOz88psYsDNojs5+B68EOeRBSCDY7AdvnyZeRSMzOzgoKCvLw8nMUp7CgMAjzs4iGtVkuco1JRuRTlLibGkfzj4KFDqF1WhUVrpSk+a6tHVzSndZrT2gXYKbRXl6iPukWqsbZ2Qt5l5shXuUu2sPlzdmu/EXIrIuLOrVupMTEZ3t43Tp48ZWp6ztqaK5UWx8VlwhISsm7ejHMRjYl9t0nC1KdNH6RNKnPSWxS8E8QeiHy3+WJ5bEwyOIEijvHx2cePn+JwHE+fPosVVyS66usbinU3PDwJZ+/cyff0DLfnpKPEQFbEsaOjAyQQXihV0INsiZwJkX5TU9OLFy+am5ujzKGRUT/KkN9oiEAUV+FoiMJ9degQ6nQLASGj2Znm29tnnj2i7Mnm6acPT3/3+Mz2s69x/Hbr9Pa2yfb2WdX0CZPzGVYOwxb2AxbWMd6Sq66uErjV0/O6i4vXiRMnbGwum5vb376dC66w6Oi0GyExzoJB4SuUM1gX7XiKc2bhCG4EX0xMOo7h4XeOHv1SIOAjChHrcXFZJO5xFpaQkObhlRYUurS4gHChfvkEPAQfyEExMTHYzKWkpGA/gJhD8QJ+1tbWiEKsdlgdMYb8J2HqJzhagIptA2ZANOu9s58OYxSGR+tS0yT31z+7v3Lyware0L6/coL0UO31L/t6zjrx59wlj7Av5PLbQ2/GgFNkpBRR6OUV/PnnfzM3h5dsEEDohFHr1vWoV0a45cifv2gRHhmZEBWVRr8BsqCg2GPHjjs62n/xxQkEupfXdYkkGIZcjTFxsenu7jfcRJVInT093ag5saWjtm69vQgjBB926IgtxBnYILbOnz//9ddfHzt2LJsWSlbk0t0IEZ3IsWVlZYZEuq8OHUJ6LVziChRiSYdY0vO9ee+Y/mMXFkWBF5X0hN7fcvld/n4BQUGRgYERISHRQqHPBx/89sMPfmNmZh4WGo9O2PWgSB/vAI7boNDn6U62PNAEXtiDbvMEXYEBATduRIWE3LoREhUcHPnZX498/NH/fvrpkav+Id7e17y9A2BBgWE4GxYaxXe74SZuSElJRpWRmpp65swZiUSCTT227WCGorSqqgpQIYQdNoVHjhyxt7dH/CFhovgkpwzCYFxi+Jn7IB1GhLGJahveY4770xcbV/iEJ1p3Fq3zRA84bhpbTqctp8uW22XHpY7nLWpMzCouO7bbcbvxUW+cLo5Ai/G46qXGE2848dW2TrV2nAZiDs5NJma5R48nm1mWOLm2OvCaiNlzG+kBtZb28huR6/fuDZaXlycnJ588eTI0NBQwEF5IhuSnNYPwsGTDrv+8n7Cv3/NDz/M6dAjxwsn7ZusbZ5taXtUam3FUNbcuNbdqYE3UcamtQ9fWudLStkx/NPRrMJIe/3Kjh6mbWpebWpaaWpeoY8tSW+dqR/c3rR0rjS2YkO43WMtSY7Omo0uxuEj9eywAkL/fxPaOhBGOr6uX8oMOHUJIs4gVEeHIPMNtk104AUB2FBD9WO9KhxEhq9cSi5DxYhEyXixCxotFyHixCBkvFiHjxSJkvFiEjBeLkPFiETJeLELGi0XIeLEIGS8WIePFImS8WISMF4uQ8WIRMl4sQsaLRch4sQgZLxYh48UiZLxYhIwXi5DxYhEyXixCxotFyHixCBkvFiHjxSJkvFiEjBeLkPFiETJeLELGi0XIeLEIGS8WIeNlhJAVQ6VHyIrB+tnP/h9ZBXEvtRmMDgAAAABJRU5ErkJggg== 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diff --git a/lecture_07/assembly.json b/lecture_07/assembly.json index 0cc5cdb..079ec1e 100644 --- a/lecture_07/assembly.json +++ b/lecture_07/assembly.json @@ -1 +1 @@ -{"dtype": "assembly/Assembly", "value": {"compas": "1.5.0", "datatype": "assembly/Assembly", "data": {"attributes": {"name": "Network", "approach_offset": 0.05, "element": {"dtype": "compas.geometry/Box", "value": {"frame": {"point": [0.0, 0.0, 0.0], "xaxis": [1.0, 0.0, 0.0], "yaxis": [0.0, 1.0, 0.0]}, "xsize": 0.031, "ysize": 0.016, "zsize": 0.012}}, "home_config": {"dtype": "compas_fab.robots/Configuration", "value": {"values": [1.57, -1.57, 1.57, -1.57, -1.57, -3.14], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, "pick_t0cf_frame": {"dtype": "compas.geometry/Frame", "value": {"point": [-0.0643269056259189, 0.668512451261046, 0.1517357251225426], "xaxis": [0.0007963267107332635, 0.0, -0.9999996829318347], 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compas.topology import breadth_first_ordering +from compas.topology import breadth_first_traverse + +HERE = os.path.dirname(__file__) +Z_OFFSET = 0.070 + + +def traversal_linearly_ordered(assembly): + return sorted(assembly.nodes()) + + +def traversal_breadth_first_ordering(assembly): + root = assembly.leaves()[0] + return breadth_first_ordering(assembly.adjacency, root) + + +def traversal_buildup_sequence(assembly): + visited = set() + elements = [] + for key in assembly.nodes(): + if assembly.degree_out(key) == 0: + get_dependencies(assembly, key, elements, visited) + + return list(reversed(elements)) + + +def get_dependencies(assembly, key, elements, visited): + if key not in visited: + elements.append(key) + visited.add(key) + for n in assembly.neighbors_in(key): + get_dependencies(assembly, n, elements, visited) + + +def get_last_config(trajectory, robot): + start_configuration = robot.zero_configuration() + + if trajectory and trajectory.points: + start_configuration.values = trajectory.points[-1].values + + return start_configuration + + +def attach_vacuum_gripper(scene): + # create tool from mesh and frame + mesh = Mesh.from_stl(os.path.join(HERE, 'vacuum_gripper.stl')) + frame = Frame([Z_OFFSET, 0, 0], [0, 0, 1], [0, 1, 0]) + tool = Tool(mesh, frame, name='vacuum_gripper') + + scene.robot.attach_tool(tool) + scene.add_attached_tool() + + +def add_static_objects(scene): + meshes = compas.json_load(os.path.join(HERE, 'static-objects.json')) + scene.remove_collision_mesh('static_objects') + + for mesh in meshes: + cm = CollisionMesh(mesh, 'static_objects') + scene.append_collision_mesh(cm) + +def add_built_elements(scene, assembly, built_elements): + scene.remove_collision_mesh('built_elements') + + for key in built_elements: + element = assembly.element(key) + cm = CollisionMesh(element.geometry_at_placement, 'built_elements') + scene.append_collision_mesh(cm) + print('.', end='', flush=True) + + # Setup attached element + scene.remove_attached_collision_mesh('brick') + scene.remove_collision_mesh('brick') + + ee_link_name = scene.robot.get_end_effector_link_name() + if scene.robot.attached_tool: + brick_frame = scene.robot.attached_tool.frame.copy() + else: + brick_frame = Frame.worldXY() + + # Centered origin, get half + element = assembly.attributes['element'] + brick_frame.point.x += element.height / 2 + element_mesh = Mesh.from_shape(element) + brick_acm = AttachedCollisionMesh(CollisionMesh(element_mesh, 'brick', brick_frame), ee_link_name) + scene.add_attached_collision_mesh(brick_acm) diff --git a/lecture_07/static-objects.json b/lecture_07/static-objects.json index 46f9a17..db3d2bf 100644 --- a/lecture_07/static-objects.json +++ b/lecture_07/static-objects.json @@ -1 +1 @@ -[{"dtype": "compas.datastructures/Mesh", "value": {"compas": "1.5.0", "datatype": "compas.datastructures/Mesh", "data": {"facedata": {"0": {}, "1": {}, "2": {}, "3": {}, "4": {}, "5": {}, "6": {}, "7": {}, "8": {}, "9": {}, 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