diff --git a/lecture_07/assignment_04/maxence_grangeot/601_assembly_design.ghx b/lecture_07/assignment_04/maxence_grangeot/601_assembly_design.ghx new file mode 100644 index 0000000..0d8c584 --- /dev/null +++ b/lecture_07/assignment_04/maxence_grangeot/601_assembly_design.ghx @@ -0,0 +1,9357 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + ef502336-9d6c-4700-9cab-6a92a541a405 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 637854006000963470 + + 601_assembly_design.ghx + + + + + 0 + + + + + + -601 + -2046 + + 1.06250083 + + + + + 0 + + + + + + + 0 + + + + + 2 + + + + + GhPython, Version=7.17.22102.5001, Culture=neutral, PublicKeyToken=null + 7.17.22102.5001 + + 00000000-0000-0000-0000-000000000000 + + + + + + + sof_gh_sofistik_rhino, Version=2020.8.7711.23201, Culture=neutral, PublicKeyToken=null + 2020.8.7711.23201 + + 2df17186-8b23-2910-b1a4-5b637e5c200f + sof_gh_sofistik_rhino + 2020.8.7711.23201 + + + + + + + 87 + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.artists import Artist +from compas.datastructures import Assembly +from compas.datastructures import Part +from compas.geometry import Box +from compas.geometry import Polyhedron +from compas.geometry import Frame +from compas.geometry import Transformation +from compas.geometry import Translation +from compas.geometry import NurbsCurve +from compas_rhino.conversions import RhinoPoint + +# Create Wall as Assembly instance +wall = Assembly("exercise-wall") + +# Create wall curve +points = [RhinoPoint.from_guid(p).to_compas() for p in points] +curve = NurbsCurve.from_interpolation(points) + +HGAP = 0.005 +VGAP = 0.002 +divisions = curve.divide_by_length(part_shape.width + HGAP) + +# Create brick frames +frames = [] +key = 0 +for row in range(int(rows)): + Trow = Translation.from_vector((0, 0, part_shape.height / 2. + (part_shape.height + VGAP) * row)) + + for div, i in zip(divisions, range(len(divisions))): + point = curve.point_at(div) + xaxis = curve.tangent_at(div) + yaxis = xaxis.cross((0, 0, 1)) + frame = Frame(point, xaxis, yaxis) + + # Create bricks as parts + width, height, depth = part_shape.width, part_shape.height, part_shape.depth + brick_type = 'full' + if row % 2 == 1 and i % len(divisions) == 0: + brick_type = 'half' + if row % 2 == 0 and i % (len(divisions)) == len(divisions)-1: + brick_type = 'half' + + if brick_type == 'half': + width = width / 2. + xoffset = width / 2. + else: + xoffset = width / 2. if row % 2 == 0 else 0 + + shape = Box.from_width_height_depth(width, height, depth) + shape = Polyhedron(*shape.to_vertices_and_faces()) + + Tb = Translation.from_vector((xoffset, 0, 0)) + Tf = Transformation.from_frame(frame) + frame = Frame.from_transformation(Trow * Tf * Tb) + frames.append(frame) + + part = Part(frame=frame, shape=shape) + wall.add_part(part, key=str(key)) + key += 1 + + +frames = [Artist(f).draw() for f in frames] +curve = Artist(curve).draw() +bricks = [Artist(brick.geometry).draw() for brick in wall.parts()] + + + GhPython provides a Python script component + + 32 + 32 + + + 625 + 625 + + true + true + true + false + b4489a27-124b-456d-89b3-5ac8e9cd1ff6 + false + true + true + GhPython Script + Assembly + + + + + + 621 + 199 + 137 + 84 + + + 698 + 241 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + true + Script variable Python + 88ce56b2-1c13-4e52-9b14-178dc96be7ef + true + points + points + true + 1 + true + 8f87ae4c-7ce8-4297-ae06-d204a9474bbd + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 623 + 201 + 60 + 26 + + + 654.5 + 214.3333 + + + + + + + + true + Script input rows. + 24be5cd7-ebf3-4a22-9575-b9639ec155ad + true + rows + rows + true + 0 + true + 0f2ae9f3-3115-47ea-9c1a-759e5dd93296 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 623 + 227 + 60 + 27 + + + 654.5 + 241 + + + + + + + + true + Script input part_shape. + 5d8300ec-103b-4d2a-bb24-8c803dc4d329 + true + part_shape + part_shape + true + 0 + true + fbfe2335-eb83-4537-91c1-0a31393c19a3 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 623 + 254 + 60 + 27 + + + 654.5 + 267.6667 + + + + + + + + Script output frames. + 42bea5b5-f00c-4079-9cb5-1bb94c4013d9 + true + frames + frames + false + 0 + + + + + + 713 + 201 + 43 + 20 + + + 734.5 + 211 + + + + + + + + Script output curve. + 89492210-58a1-43c0-b0f4-07352ebccc8d + true + curve + curve + false + 0 + + + + + + 713 + 221 + 43 + 20 + + + 734.5 + 231 + + + + + + + + Script output bricks. + e74ec2dc-598d-4b74-b023-4cc092680629 + true + bricks + bricks + false + 0 + + + + + + 713 + 241 + 43 + 20 + + + 734.5 + 251 + + + + + + + + Script output wall. + 029b1e20-9d25-433b-a14d-5b33fe583074 + true + wall + wall + false + 0 + + + + + + 713 + 261 + 43 + 20 + + + 734.5 + 271 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 8f87ae4c-7ce8-4297-ae06-d204a9474bbd + true + Point + Pt + false + 0 + + + + + + 540 + 202 + 50 + 24 + + + 565.4529 + 214.045 + + + + + + 1 + + + + + 4 + {0} + + + + + + + + 30a87f18-ddf4-4fb9-96cf-4374ac20fe77 + -1 + 0 + 0 + point_object + + + + + + + + + + a2e1a457-3030-44a1-ac94-83041bcc837a + -1 + 0 + 0 + point_object + + + + + + + + + + e4ef5fce-010e-4596-b335-ff0708eb1430 + -1 + 0 + 0 + point_object + + + + + + + + + + ecb84c89-6b3a-4f4c-8ed3-7348e42298f4 + -1 + 0 + 0 + point_object + + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 7a9c0b9a-790f-4dfc-9d0d-029a1a84c040 + true + Number Slider + + false + 0 + + + + + + 76 + 222 + 160 + 20 + + + 76.93677 + 222.836 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.06 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + c112e8b1-09b2-40fc-8c36-9a9edfb7520d + true + Number Slider + + false + 0 + + + + + + 74 + 242 + 162 + 20 + + + 74.97395 + 242.7445 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.03 + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.geometry import Box +from compas.artists import Artist + +part = Box.from_diagonal([(width / -2., depth / -2., 0), (width / 2., depth / 2., height)]) +a = Artist(part).draw() + + GhPython provides a Python script component + + 102 + 102 + + + 625 + 625 + + true + true + true + false + f73634fa-e1d6-4419-bc80-a409852b9dba + false + true + true + GhPython Script + Part + + + + + + 265 + 220 + 102 + 64 + + + 320 + 252 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + b674e636-bdba-4392-ac62-97ee6a62e6c9 + true + width + width + true + 0 + true + 7a9c0b9a-790f-4dfc-9d0d-029a1a84c040 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 267 + 222 + 38 + 20 + + + 287.5 + 232 + + + + + + + + true + Script input depth. + e9b05b24-fba6-4275-81e4-7d99b72ffb99 + true + depth + depth + true + 0 + true + c112e8b1-09b2-40fc-8c36-9a9edfb7520d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 267 + 242 + 38 + 20 + + + 287.5 + 252 + + + + + + + + true + Script input height. + d5b1db5f-ac3d-4a1b-9af7-e065c26809a3 + true + height + height + true + 0 + true + 7575bc80-d0e0-4c94-acd1-a69fb0494593 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 267 + 262 + 38 + 20 + + + 287.5 + 272 + + + + + + + + Script output a. + ff617c95-48f8-462b-9473-4be61c5522fb + true + a + a + false + 0 + + + + + + 335 + 222 + 30 + 30 + + + 350 + 237 + + + + + + + + Script output part. + fbfe2335-eb83-4537-91c1-0a31393c19a3 + true + part + part + false + 0 + + + + + + 335 + 252 + 30 + 30 + + + 350 + 267 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 7575bc80-d0e0-4c94-acd1-a69fb0494593 + true + Number Slider + height + false + 0 + + + + + + 72 + 262 + 164 + 20 + + + 72.64474 + 262.4145 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.02 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 0f2ae9f3-3115-47ea-9c1a-759e5dd93296 + true + Number Slider + + false + 0 + + + + + + 430 + 230 + 160 + 20 + + + 430.8329 + 230.0825 + + + + + + 3 + 1 + 1 + 20 + 1 + 0 + 8 + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + true + 1cc7da76-9da2-4314-835c-c334545e48ed + true + Geometry + Geo + false + 42bea5b5-f00c-4079-9cb5-1bb94c4013d9 + 1 + + + + + + 798 + 199 + 50 + 24 + + + 823.2731 + 211.5758 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 0ed150a4-24ea-41e2-af4e-48463af0ce53 + true + Geometry + Geo + false + 89492210-58a1-43c0-b0f4-07352ebccc8d + 1 + + + + + + 798 + 219 + 50 + 24 + + + 823.6539 + 231.6573 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 5e7038d9-933c-46d3-a78f-694301927bb7 + true + Geometry + Geo + false + e74ec2dc-598d-4b74-b023-4cc092680629 + 1 + + + + + + 798 + 239 + 50 + 24 + + + 823.206 + 251.2518 + + + + + + + + + + 06953bda-1d37-4d58-9b38-4b3c74e54c8f + File Path + + + + + Contains a collection of file paths + false + All files|*.* + d5fc84ba-9390-49ea-8886-078b4710fb90 + true + File Path + Path + false + 0 + + + + + + 954 + 279 + 50 + 24 + + + 979.1648 + 291 + + + + + + 1 + + + + + 1 + {0} + + + + + false + C:\Users\grangeot\Documents\COMPAS-II-FS2022\lecture_07\assignment_04\maxence_grangeot\601_assembly_design.json + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 8a94c65f-2303-4120-9098-1918be9b5b14 + true + Boolean Toggle + Toggle + false + 0 + true + + + + + + 900 + 300 + 104 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + To JSON + + + + + """ +Serializes COMPAS objects to JSON. +""" +from ghpythonlib.componentbase import executingcomponent as component + +import compas + + +class CompasInfo(component): + def RunScript(self, data, filepath, pretty): + json = filepath + + if filepath: + compas.json_dump(data, filepath, pretty) + else: + json = compas.json_dumps(data, pretty) + + return json + + Serializes COMPAS objects to JSON. + true + true + 2 + + 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+ + false + eba4bf73-fdf3-4e98-a5eb-e8953ccd8989 + true + true + true + To JSON + To JSON + + + + + + 1043 + 259 + 108 + 64 + + + 1104 + 291 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + COMPAS data objects to serialize. + 22d0eab5-f5ed-4502-85f0-056d10a00be2 + true + data + data + true + 0 + true + 029b1e20-9d25-433b-a14d-5b33fe583074 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1045 + 261 + 44 + 20 + + + 1068.5 + 271 + + + + + + + + true + File path where to store the JSON file. If empty, it will not store to disk but instead return the JSON string. + b6b51aca-b239-4574-b3a7-fa95e9c102d3 + true + filepath + filepath + true + 0 + true + d5fc84ba-9390-49ea-8886-078b4710fb90 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1045 + 281 + 44 + 20 + + + 1068.5 + 291 + + + + + + + + true + If True, JSON data will be formatted with indentation and key sorting. + 82472413-fe2d-4a97-8f0d-478003192552 + true + pretty + pretty + true + 0 + true + 8a94c65f-2303-4120-9098-1918be9b5b14 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1045 + 301 + 44 + 20 + + + 1068.5 + 311 + + + + + + + + JSON file path or JSON string. + 67faf8bb-a8ce-4f13-b87d-62b04399f3b3 + true + json + json + false + 0 + + + + + + 1119 + 261 + 30 + 60 + + + 1134 + 291 + + + + + + + + + + + + + + 7eba1aec-50a9-442f-a092-28f5d4470802 + 2df17186-8b23-2910-b1a4-5b637e5c200f + IO + + + + + IO Extension + 11b6a3e8-b4ee-4bd8-b81b-99fd55d37a3d + IO + IO + + + + + 2020 + 8 + Rhino-Interface + + + + + + -50 + -50 + 0 + 0 + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 7838a4ed-a9bd-452d-80c8-cda6a4cd4fa9 + true + Point + Pt + false + 0 + + + + + + 70 + 563 + 50 + 24 + + + 95.87263 + 575.3882 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0.219411964028849 + 0.292633830648568 + 0.190935282032634 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 67e8ac01-ee43-4f7b-a736-d3fe247a2c56 + true + Point + Pt + false + 0 + + + + + + 70 + 590 + 50 + 24 + + + 95.8726 + 602.055 + + + + + + 1 + + + + + 1 + {0} + + + + + + + -0.0997446034684082 + 0.334177863535745 + 0.138630764897957 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + db74f168-7cd5-4eee-9e3a-f77b75ee1b74 + true + Point + Pt + false + 0 + + + + + + 70 + 616 + 50 + 24 + + + 95.8726 + 628.7216 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8ec86459-bf01-4409-baee-174d0d2b13d0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 2 + Data stream 1 + 06d47609-502b-4509-a8a6-38cbb53f262b + true + false + Data 1 + D1 + true + 391a57cb-043b-4cdd-b551-521755b6e2dc + 1 + + + + + + 1055 + 674 + 21 + 20 + + + 1067 + 684 + + + + + + + + 2 + Data stream 2 + e2e31d84-ff78-4c2a-a9c1-c5f9125e9b11 + true + false + Data 2 + D2 + true + 0eab0e3a-ab58-4be0-888f-f8dc3d878c4e + 1 + + + + + + 1055 + 694 + 21 + 20 + + + 1067 + 704 + + + + + + + + 2 + Data stream 3 + 8632c9c5-5147-4b91-bb3f-4e5031e859a9 + true + false + Data 3 + D3 + true + 3ed71e0c-ba04-449b-8974-10d9384cb4f7 + 1 + + + + + + 1055 + 714 + 21 + 20 + + + 1067 + 724 + + + + + + + + 2 + Data stream 4 + 4a5aa73f-9721-4b31-acda-7b3a63cd9e86 + true + false + Data 4 + D4 + true + 0 + + + + + + 1055 + 734 + 21 + 20 + + + 1067 + 744 + + + + + + + + 2 + Result of merge + 28545c70-cfbc-4101-97a7-58029d1fd145 + true + Result + R + false + 0 + + + + + + 1106 + 674 + 17 + 80 + + + 1114.5 + 714 + + + + + + + + + + + + + + 99bee19d-588c-41a0-b9b9-1d00fb03ea1a + Tree Statistics + + + + + Get some statistics regarding a data tree. + 4cae5935-bfc9-465c-813c-c7ac0912aca7 + true + Tree Statistics + TStat + + + + + + 1127 + 691 + 80 + 64 + + + 1173 + 723 + + + + + + 2 + Data Tree to analyze + e56034c1-6763-448d-9b79-c43929098d79 + true + 1 + Tree + T + false + 28545c70-cfbc-4101-97a7-58029d1fd145 + 1 + + + + + + 1129 + 693 + 29 + 60 + + + 1153 + 723 + + + + + + + + 1 + All the paths of the tree + b67ed1bc-9bdd-434b-a4e5-be6662726959 + true + Paths + P + false + 0 + + + + + + 1188 + 693 + 17 + 20 + + + 1196.5 + 703 + + + + + + + + 1 + The length of each branch in the tree + 96d6bbb5-ae68-4c60-a3a8-f59f8fbe62c4 + true + Length + L + false + 0 + + + + + + 1188 + 713 + 17 + 20 + + + 1196.5 + 723 + + + + + + + + Number of paths and branches in the tree + b85c9818-cc13-4c82-854b-935e340e73ad + true + Count + C + false + 0 + + + + + + 1188 + 733 + 17 + 20 + + + 1196.5 + 743 + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 774dfa21-22f5-449f-8e4e-be793da9a510 + true + Panel + + false + 0 + 96d6bbb5-ae68-4c60-a3a8-f59f8fbe62c4 + 1 + Double click to edit panel content… + + + + + + 1266 + 709 + 160 + 100 + + 0 + 0 + 0 + + 1266.05 + 709.3504 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 7838a4ed-a9bd-452d-80c8-cda6a4cd4fa9 + 67e8ac01-ee43-4f7b-a736-d3fe247a2c56 + db74f168-7cd5-4eee-9e3a-f77b75ee1b74 + 1ca05bfb-edc1-4bb4-a2b7-c32a49868db1 + a24fe74d-1055-438f-a01a-79802e62e5b7 + 8eecff22-2fba-4fba-937b-08742e213b9d + ecf2fa0a-d3d5-437b-a7b0-cddb8bb70de7 + 5bcba45d-785e-4b73-bf94-791dcc328211 + 4f125073-4c61-4e20-9612-274bb3dc66a3 + 34129f3f-f487-43f7-85dd-129b2e6ce460 + cf0b2535-8c06-4af6-a930-705e18ef13a5 + 2471df70-6621-45da-9391-8632ce07908e + 2919f7f1-e1a5-4dd3-b91a-94e4965f462c + 9bf9926c-b01c-45be-86c8-1a6fd83e22c4 + 6b01d4de-0279-403a-868e-4bc01939d9c0 + 822e14a8-0985-4e8a-8f1e-3a333ea8bcfc + eb283a2f-b2e7-41d7-92bd-74bd8fa43755 + bf87e8e8-c27d-4dcd-8a16-2c161f65a1d0 + 05ff69a8-c8c9-443f-b3d5-88b0071577f8 + f9ee369f-02be-477e-9c32-d83d020f0c8b + 575f0d7c-11e4-42de-b592-496e49dbebe7 + ff858429-3325-4fda-863d-8dfa063c3aaf + 6eb57118-1ff7-4cdd-bc5d-067829d5d725 + 65a1abdf-7fb3-4019-bcc7-0e387716b768 + 4cae5935-bfc9-465c-813c-c7ac0912aca7 + 774dfa21-22f5-449f-8e4e-be793da9a510 + 26 + bcd74881-85d6-4010-8239-e44cc4c3cd7c + Group + COLLISION OF PARTS (NOT CALCULATED HERE, SO USELESS) + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.artists import Artist +from compas.datastructures import Assembly +from compas.datastructures import Part +from compas.geometry import Box +from compas.geometry import Polyhedron +from compas.geometry import Frame +from compas.geometry import Transformation +from compas.geometry import Translation +from compas.geometry import NurbsCurve +from compas_rhino.conversions import RhinoPoint + +# Create Igloo as Assembly instance +igloo = Assembly("exercise-igloo") + +# Create igloo base +center = [RhinoPoint.from_guid(p).to_compas() for p in points] +curve = NurbsCurve.from_interpolation(points) + +divisions = curve.divide_by_length(part_shape.width + HGAP) + +# Create brick frames +frames = [] +key = 0 +for row in range(int(rows)): + Trow = Translation.from_vector((0, 0, part_shape.height / 2. + (part_shape.height + VGAP) * row)) + + for div, i in zip(divisions, range(len(divisions))): + point = curve.point_at(div) + xaxis = curve.tangent_at(div) + yaxis = xaxis.cross((0, 0, 1)) + frame = Frame(point, xaxis, yaxis) + + # Create bricks as parts + width, height, depth = part_shape.width, part_shape.height, part_shape.depth + brick_type = 'full' + if row % 2 == 1 and i % len(divisions) == 0: + brick_type = 'half' + if row % 2 == 0 and i % (len(divisions)) == len(divisions)-1: + brick_type = 'half' + + if brick_type == 'half': + width = width / 2. + xoffset = width / 2. + else: + xoffset = width / 2. if row % 2 == 0 else 0 + + shape = Box.from_width_height_depth(width, height, depth) + shape = Polyhedron(*shape.to_vertices_and_faces()) + + Tb = Translation.from_vector((xoffset, 0, 0)) + Tf = Transformation.from_frame(frame) + frame = Frame.from_transformation(Trow * Tf * Tb) + frames.append(frame) + + part = Part(frame=frame, shape=shape) + wall.add_part(part, key=str(key)) + key += 1 + + +frames = [Artist(f).draw() for f in frames] +curve = Artist(curve).draw() +bricks = [Artist(brick.geometry).draw() for brick in wall.parts()] + + + GhPython provides a Python script component + + 1055 + 90 + + + 840 + 839 + + true + true + true + false + 6a3e7a59-a7f2-4468-8e27-6cd0b89957cc + false + true + true + GhPython Script + Assembly + + + + + + 898 + 1437 + 137 + 104 + + + 975 + 1489 + + + + + + 5 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + true + Script variable Python + bf666390-a457-48ee-ba8b-31835b6681a8 + true + center + center + true + 1 + true + 67aa8b41-5216-4071-8951-46dfccb74a5f + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 900 + 1439 + 60 + 20 + + + 931.5 + 1449 + + + + + + + + true + Script input diameter. + b875ce12-c862-4723-b12e-53da28bb2392 + true + diameter + curves + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 900 + 1459 + 60 + 20 + + + 931.5 + 1469 + + + + + + + + true + Script input part_shape. + 8634327c-a8ce-4cb1-be2f-475b6f838b73 + true + part_shape + part_shape + true + 0 + true + 11c60913-9477-4626-9135-120cb32152dd + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 900 + 1479 + 60 + 20 + + + 931.5 + 1489 + + + + + + + + true + Script input HGAP. + 41233966-ec1a-4e79-9d8c-a4ec22b37582 + true + x + HGAP + true + 0 + true + f85d30a9-dfd6-4fd5-813a-6e93eedb6ee2 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 900 + 1499 + 60 + 20 + + + 931.5 + 1509 + + + + + + + + true + Script input VGAP. + ee01894d-68d7-4313-92ac-fff2f70e5016 + true + y + VGAP + true + 0 + true + 62c5851d-c118-4caf-8da4-bd5dc0693d00 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 900 + 1519 + 60 + 20 + + + 931.5 + 1529 + + + + + + + + Script output frames. + d16df0d9-3503-4727-9d45-30c7990876b0 + true + frames + frames + false + 0 + + + + + + 990 + 1439 + 43 + 25 + + + 1011.5 + 1451.5 + + + + + + + + Script output curve. + 4b184193-6a44-4138-97ee-b7f4ea7ba179 + true + curve + curve + false + 0 + + + + + + 990 + 1464 + 43 + 25 + + + 1011.5 + 1476.5 + + + + + + + + Script output bricks. + 85398810-0681-4a14-b85e-af4bb9dc0ff4 + true + bricks + bricks + false + 0 + + + + + + 990 + 1489 + 43 + 25 + + + 1011.5 + 1501.5 + + + + + + + + Script output igloo. + 15a09832-7a70-4d6a-90ff-a4bef0268bbb + true + igloo + igloo + false + 0 + + + + + + 990 + 1514 + 43 + 25 + + + 1011.5 + 1526.5 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 67aa8b41-5216-4071-8951-46dfccb74a5f + true + Point + Pt + false + 0 + + + + + + 546 + 1351 + 50 + 24 + + + 571.9189 + 1363.254 + + + + + + 1 + + + + + 1 + {0} + + + + + + + + db8d945a-223f-4ef0-8507-5a1f2dbf7e4b + -1 + 0 + 0 + point_object + + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 83af6127-2874-42f0-8e7a-f3c93c2b8748 + true + Number Slider + + false + 0 + + + + + + 210 + 1431 + 160 + 20 + + + 210.4615 + 1431.045 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.07 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + ce7fc1e3-12d8-40c3-9570-9ca71092447d + true + Number Slider + + false + 0 + + + + + + 208 + 1450 + 162 + 20 + + + 208.4987 + 1450.954 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.02 + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.geometry import Box +from compas.artists import Artist + +part = Box.from_diagonal([(width / -2., depth / -2., 0), (width / 2., depth / 2., height)]) +a = Artist(part).draw() + + GhPython provides a Python script component + + 102 + 102 + + + 625 + 625 + + true + true + true + false + e12fa466-9b6b-4082-b83d-1d2d2eb0cd6e + false + true + true + GhPython Script + Part + + + + + + 396 + 1426 + 102 + 64 + + + 451 + 1458 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + a728a867-03d1-4225-980a-66a743599ecc + true + width + width + true + 0 + true + 83af6127-2874-42f0-8e7a-f3c93c2b8748 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 398 + 1428 + 38 + 20 + + + 418.5 + 1438 + + + + + + + + true + Script input depth. + f0376664-3d77-4e34-9d80-bb8f65996c40 + true + depth + depth + true + 0 + true + ce7fc1e3-12d8-40c3-9570-9ca71092447d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 398 + 1448 + 38 + 20 + + + 418.5 + 1458 + + + + + + + + true + Script input height. + dfb7b544-4475-4e0f-954e-431ceddab5b5 + true + height + height + true + 0 + true + 4ee932fb-f1bb-40e3-9671-439e632abaee + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 398 + 1468 + 38 + 20 + + + 418.5 + 1478 + + + + + + + + Script output a. + 245d82f5-6dcd-42ce-810f-fef419ad35fa + true + a + a + false + 0 + + + + + + 466 + 1428 + 30 + 30 + + + 481 + 1443 + + + + + + + + Script output part. + 11c60913-9477-4626-9135-120cb32152dd + true + part + part + false + 0 + + + + + + 466 + 1458 + 30 + 30 + + + 481 + 1473 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 4ee932fb-f1bb-40e3-9671-439e632abaee + true + Number Slider + height + false + 0 + + + + + + 206 + 1470 + 164 + 20 + + + 206.1695 + 1470.624 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.04 + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + true + ba9e629a-b798-48e3-8fd4-513f429a9bda + true + Geometry + Geo + false + d16df0d9-3503-4727-9d45-30c7990876b0 + 1 + + + + + + 1078 + 1450 + 50 + 24 + + + 1103.159 + 1462.209 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 52cf1c2e-1fd2-4870-a9f3-a041a31b134f + true + Geometry + Geo + false + 4b184193-6a44-4138-97ee-b7f4ea7ba179 + 1 + + + + + + 1078 + 1470 + 50 + 24 + + + 1103.54 + 1482.29 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + d18f9f22-8cb0-44db-af25-b3beb520053b + true + Geometry + Geo + false + 85398810-0681-4a14-b85e-af4bb9dc0ff4 + 1 + + + + + + 1078 + 1489 + 50 + 24 + + + 1103.092 + 1501.885 + + + + + + + + + + 06953bda-1d37-4d58-9b38-4b3c74e54c8f + File Path + + + + + Contains a collection of file paths + false + All files|*.* + c9f3d20e-1636-4c5f-bb72-e7fa8b95867e + true + File Path + Path + false + 0 + + + + + + 1234 + 1529 + 50 + 24 + + + 1259.051 + 1541.633 + + + + + + 1 + + + + + 1 + {0} + + + + + false + C:\Users\grangeot\Documents\COMPAS-II-FS2022\lecture_07\assignment_04\maxence_grangeot\601_assembly_design.json + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + e6ea3211-9916-45ca-a58b-95bb0c8a1e60 + true + Boolean Toggle + Toggle + false + 0 + true + + + + + + 1177 + 1548 + 104 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + To JSON + + + + + """ +Serializes COMPAS objects to JSON. +""" +from ghpythonlib.componentbase import executingcomponent as component + +import compas + + +class CompasInfo(component): + def RunScript(self, data, filepath, pretty): + json = filepath + + if filepath: + compas.json_dump(data, filepath, pretty) + else: + json = compas.json_dumps(data, pretty) + + return json + + Serializes COMPAS objects to JSON. + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDgAACw4BQL7hQQAAA/hJREFUSEu1VFtoY1UUPemMOoNJW3WUqdb+qTD+CCIKfqhQRRQZ7AvmqyD+CMIIBXH+/JB+qEUYEFTUjlrnoymYGamhjU3bNH2m6btpm8Q0k0fTR9KkeU2eXZ6905s0nU7nZ+bAuvfcs/dZa529D1cAeKAoTeT0fuJYgcMjl8shlUohkUhgb28PoVAI29vb2NjYgMfjwfr6OhwOB1ZWVrC4uIi5uTlMT09jYmLi3gL7+/uwWCyorKzk5HA4jJ2dHbS0tKC5uRlutxtOp5NjGo0G3d3dsFqtmJqawtjY2L0FyH1VVRUnRyIRdr+1tcXkTU1NcLlcsNvtsNls0Gq1UKvVbIjcm83mkwXy+TxvJvfRaBS7u7tcmkAgAK/Xy6Uh96urq1haWsL8/DwL6HQ6jI6OwmQynSyQzWY5oa2tjd0Hg0Fsbm7C7/ez+4aGBqytrbH7hYUFzMzMoLW1lfeMjIxgcHDw7gJUmnQ6zZvpBIp7pbGNjY28mRpL7pXG0gl6enowPDyMgYGBooAcqjKBTCaDZDKJWCzGAuSG3Pt8vrLGLi8vc2nIfVdXFwso7g0Gw90F6FrG43G+lkNDQ8VbRO6psTRXruXs7Cx/E3lnZyfnk/u+vj5el1BJVJQJkHulsXQtlcYq7g83lq7l5OQk3zRqrNFoRH9/P/R6vSJw5g6B+4xqiZLAIaE3CUfXD2J0bMIpiYckyKVagsiekHhK4rxEjcTTEqUeHBC89LAQaQLNj8SOkp+VqJQg4hpZ+8ZwPGmPpnJZmc9Drpc1uVpa8bwtj0egOa0diheaVk7+pERtOJa0yxwks3mMexP4YTqI78a3aUkyHRDIM958TojstdMCvz0i8HyFyD6mEjeVuBxEflqCysLkHR0dryXSuYyM48ZqBJ/2evGR7hY+7/fDHkrRckFArRJXzqhE/ieNwJ/VAtcfF/jlnMBZuaapEFc4sVAaWT2uOZWlNi7JE5k8vjD4cEnrKuL3uSCR0ygIyJ1xuYFYoK0V6Kkr3YZTKhHnxIJ7Kg01tGY3fttJDJ/pPbh43VGGn607FKJREFAgB3QvCNy4UCA/EqPaPypxjhpKwUxuH1+bN1B/baUMfc4ITO4opdwp0PuywD+vlE5wDM4Howl7LJ1Dm96NQCwDe/A2PvnbhVd/XOQ3xeo7bccLGN4Q+PctgYF6AeM7AoPvCgy9JzD8QVHgmVAik9XZQrhwdZbx/WQAUUlK7ylfjN+0fqyAQma6KH+/HwqYmwRGWwTGLxUF6mjnx3858Ow3liJevDqDX61b8EfT+NLo4W/mpIeCA4IT0d7e/jrtfP+PZVR9NV5E3bcWeCIpXO79D+ZbeyzEnPR4cID4H16JTadLIAk6AAAAAElFTkSuQmCC + + false + 2056186e-1d98-4a34-8b2d-8ebac44e1c46 + true + true + true + To JSON + To JSON + + + + + + 1320 + 1507 + 108 + 64 + + + 1381 + 1539 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + COMPAS data objects to serialize. + 7bf1fa64-00f3-495b-aeae-42474f5af682 + true + data + data + true + 0 + true + 15a09832-7a70-4d6a-90ff-a4bef0268bbb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1322 + 1509 + 44 + 20 + + + 1345.5 + 1519 + + + + + + + + true + File path where to store the JSON file. If empty, it will not store to disk but instead return the JSON string. + 3b47c47a-e36d-4350-a8e9-7318750c67a1 + true + filepath + filepath + true + 0 + true + c9f3d20e-1636-4c5f-bb72-e7fa8b95867e + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1322 + 1529 + 44 + 20 + + + 1345.5 + 1539 + + + + + + + + true + If True, JSON data will be formatted with indentation and key sorting. + 045808dc-2b92-409a-bd66-4525f2541ed5 + true + pretty + pretty + true + 0 + true + e6ea3211-9916-45ca-a58b-95bb0c8a1e60 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1322 + 1549 + 44 + 20 + + + 1345.5 + 1559 + + + + + + + + JSON file path or JSON string. + 36c567b1-f345-4cc6-8743-f42c63c6f5c1 + true + json + json + false + 0 + + + + + + 1396 + 1509 + 30 + 60 + + + 1411 + 1539 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + b4489a27-124b-456d-89b3-5ac8e9cd1ff6 + 8f87ae4c-7ce8-4297-ae06-d204a9474bbd + 7a9c0b9a-790f-4dfc-9d0d-029a1a84c040 + c112e8b1-09b2-40fc-8c36-9a9edfb7520d + f73634fa-e1d6-4419-bc80-a409852b9dba + 7575bc80-d0e0-4c94-acd1-a69fb0494593 + 0f2ae9f3-3115-47ea-9c1a-759e5dd93296 + 1cc7da76-9da2-4314-835c-c334545e48ed + 0ed150a4-24ea-41e2-af4e-48463af0ce53 + 5e7038d9-933c-46d3-a78f-694301927bb7 + d5fc84ba-9390-49ea-8886-078b4710fb90 + 8a94c65f-2303-4120-9098-1918be9b5b14 + eba4bf73-fdf3-4e98-a5eb-e8953ccd8989 + 13 + e9b2086a-15ef-484e-ae20-2f8183f5706b + Group + ORIGINAL + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + bd534b7c-b324-4c6e-b1e5-9c447447fab3 + true + Number Slider + radius + false + 0 + + + + + + 403 + 1393 + 176 + 20 + + + 403.0112 + 1393.037 + + + + + + 1 + 1 + 0 + 1 + 0 + 0 + 0.1 + + + + + + + + + dabc854d-f50e-408a-b001-d043c7de151d + Sphere + + + + + Create a spherical surface. + 08628884-4f0a-48ce-b68a-c15f65d412c9 + true + Sphere + Sph + + + + + + 645 + 1349 + 64 + 44 + + + 676 + 1371 + + + + + + Base plane + c81a24d2-96b9-488a-9d37-fbfeb19cb75b + true + Base + B + false + 67aa8b41-5216-4071-8951-46dfccb74a5f + 1 + + + + + + 647 + 1351 + 14 + 20 + + + 655.5 + 1361 + + + + + + 1 + + + + + 1 + {0} + + + + + + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 1 + 0 + + + + + + + + + + + + Sphere radius + 6fc67e45-dec5-482e-a7b0-367f732493d5 + true + Radius + R + false + bd534b7c-b324-4c6e-b1e5-9c447447fab3 + 1 + + + + + + 647 + 1371 + 14 + 20 + + + 655.5 + 1381 + + + + + + 1 + + + + + 1 + {0} + + + + + 1 + + + + + + + + + + + Resulting sphere + 1c692dea-984f-4a31-a199-d2902c47f860 + true + Sphere + S + false + 0 + + + + + + 691 + 1351 + 16 + 40 + + + 699 + 1371 + + + + + + + + + + + + 3b112fb6-3eba-42d2-ba75-0f903c18faab + Contour + + + + + Create a set of Brep or Mesh contours + 25ca2a2c-296b-4fea-9433-543f2e5e488c + true + Contour + Contour + + + + + + 736 + 1365 + 82 + 84 + + + 768 + 1407 + + + + + + Brep or Mesh to contour + b6a94991-68de-4cee-9fa8-b6f94e2c6b24 + true + Shape + S + false + 1c692dea-984f-4a31-a199-d2902c47f860 + 1 + + + + + + 738 + 1367 + 15 + 20 + + + 747 + 1377 + + + + + + + + Contour start point + f9283cc8-29b6-4781-9b9c-afe5ae61bb83 + true + Point + P + false + 67aa8b41-5216-4071-8951-46dfccb74a5f + 1 + + + + + + 738 + 1387 + 15 + 20 + + + 747 + 1397 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0 + 0 + 0 + + + + + + + + + + + + Contour normal direction + dd7c9898-e9c3-469f-b284-8b6547cbcf3d + true + Direction + N + false + 0 + + + + + + 738 + 1407 + 15 + 20 + + + 747 + 1417 + + + + + + 1 + + + + + 1 + {0} + + + + + + 0 + 0 + 1 + + + + + + + + + + + + Distance between contours + 191e7b15-aa50-4908-b3c8-12f437555975 + true + Distance + D + false + 4ee932fb-f1bb-40e3-9671-439e632abaee + 1 + + + + + + 738 + 1427 + 15 + 20 + + + 747 + 1437 + + + + + + + + 2 + Resulting contours (grouped by section) + 2ee5a919-fee8-45a4-b3fe-39358178c97c + true + 1 + Contours + C + false + 0 + + + + + + 783 + 1367 + 33 + 80 + + + 791.5 + 1407 + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + f85d30a9-dfd6-4fd5-813a-6e93eedb6ee2 + true + Number Slider + HGAP + false + 0 + + + + + + 535 + 1509 + 162 + 20 + + + 535.7711 + 1509.153 + + + + + + 3 + 1 + 0 + 0.01 + 0 + 0 + 0.005 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 62c5851d-c118-4caf-8da4-bd5dc0693d00 + true + Number Slider + VGAP + false + 0 + + + + + + 539 + 1539 + 162 + 20 + + + 539.1287 + 1539.39 + + + + + + 3 + 1 + 0 + 0.01 + 0 + 0 + 0.002 + + + + + + + + + 9ab93e1a-ebdf-4090-9296-b000cff7b202 + Split List + + + + + Split a list into separate parts. + 1d9eed09-ad69-4d46-b35c-7ac02a85bb9f + true + Split List + Split + + + + + + 995 + 1367 + 63 + 44 + + + 1024 + 1389 + + + + + + 1 + Base list + d0e3cea0-fc3e-40de-80ff-d3847876f504 + true + List + L + false + 2ee5a919-fee8-45a4-b3fe-39358178c97c + 1 + + + + + + 997 + 1369 + 12 + 20 + + + 1004.5 + 1379 + + + + + + + + Splitting index + 690ac02a-d115-4463-b262-ba01fc4a76d3 + true + Index + i + false + 45f52745-79a3-4c72-b6fe-4a90bee0b4c4 + 1 + + + + + + 997 + 1389 + 12 + 20 + + + 1004.5 + 1399 + + + + + + + + 1 + Items to the left of (i) + 0cefd76d-e4b3-4ac3-8fa0-e47941735159 + true + List A + A + false + 0 + + + + + + 1039 + 1369 + 17 + 20 + + + 1047.5 + 1379 + + + + + + + + 1 + Items to the right of and including (i) + 084204a3-afe9-4840-9dcf-78ae798e9cf3 + true + List B + B + false + 0 + + + + + + 1039 + 1389 + 17 + 20 + + + 1047.5 + 1399 + + + + + + + + + + + + d5967b9f-e8ee-436b-a8ad-29fdcecf32d5 + Curve + + + + + Contains a collection of generic curves + d565be0d-6913-4c6b-979c-82aa24818636 + true + Curve + Crv + false + 084204a3-afe9-4840-9dcf-78ae798e9cf3 + 1 + + + + + + 1128 + 1362 + 50 + 24 + + + 1153.018 + 1374.131 + + + + + + + + + + 1817fd29-20ae-4503-b542-f0fb651e67d7 + List Length + + + + + Measure the length of a list. + facac777-2907-4ce0-89f0-a19835f419ba + true + List Length + Lng + + + + + + 818 + 1302 + 61 + 28 + + + 847 + 1316 + + + + + + 1 + Base list + 6be031d8-1374-4a5f-a7a3-565c7d350681 + true + List + L + false + 2ee5a919-fee8-45a4-b3fe-39358178c97c + 1 + + + + + + 820 + 1304 + 12 + 24 + + + 827.5 + 1316 + + + + + + + + Number of items in L + be5e1e0d-5c3e-4ada-a5da-f061b53fcdc1 + true + Length + L + false + 0 + + + + + + 862 + 1304 + 15 + 24 + + + 869.5 + 1316 + + + + + + + + + + + + 9c85271f-89fa-4e9f-9f4a-d75802120ccc + Division + + + + + Mathematical division + 57ad5c1a-d848-4e18-b34e-a460dec20d91 + true + Division + A/B + + + + + + 910 + 1297 + 65 + 44 + + + 941 + 1319 + + + + + + Item to divide (dividend) + b9825f06-466e-431e-bd1e-076652249d5c + true + A + A + false + be5e1e0d-5c3e-4ada-a5da-f061b53fcdc1 + 1 + + + + + + 912 + 1299 + 14 + 20 + + + 920.5 + 1309 + + + + + + + + Item to divide with (divisor) + ef7bcef0-b14c-4b89-9082-83e61e3bb178 + true + B + B + false + 0 + + + + + + 912 + 1319 + 14 + 20 + + + 920.5 + 1329 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Integer + 2 + + + + + + + + + + + The result of the Division + 2bad02ef-9682-42d9-9ff7-fac0e3a74d58 + true + Result + R + false + 0 + + + + + + 956 + 1299 + 17 + 40 + + + 964.5 + 1319 + + + + + + + + + + + + a50c4a3b-0177-4c91-8556-db95de6c56c8 + Round + + + + + Round a floating point value. + 72fe73eb-4497-4173-bb87-64a0a3507fe7 + true + Round + Round + + + + + + 1004 + 1287 + 64 + 64 + + + 1033 + 1319 + + + + + + Number to round + 5bdf96b3-0b4c-421c-9b10-4f922137b3f4 + true + Number + x + false + 2bad02ef-9682-42d9-9ff7-fac0e3a74d58 + 1 + + + + + + 1006 + 1289 + 12 + 60 + + + 1013.5 + 1319 + + + + + + + + Integer nearest to x + 9cf8f1b1-4375-4122-8244-d4656e5568a2 + true + Nearest + N + false + 0 + + + + + + 1048 + 1289 + 18 + 20 + + + 1057 + 1299 + + + + + + + + First integer smaller than or equal to x + 45f52745-79a3-4c72-b6fe-4a90bee0b4c4 + true + Floor + F + false + 0 + + + + + + 1048 + 1309 + 18 + 20 + + + 1057 + 1319 + + + + + + + + First integer larger than or equal to x + fa4ea1ea-be43-4aaa-9230-c8e8db524530 + true + Ceiling + C + false + 0 + + + + + + 1048 + 1329 + 18 + 20 + + + 1057 + 1339 + + + + + + + + + + + + c75b62fa-0a33-4da7-a5bd-03fd0068fd93 + Length + + + + + Measure the length of a curve. + 01fb8235-cbe2-4cb8-b8f8-8798c9ad8e1f + true + Length + Len + + + + + + 1220 + 1358 + 63 + 28 + + + 1251 + 1372 + + + + + + Curve to measure + d575238a-4698-426e-b10e-01cf20e53c25 + true + Curve + C + false + d565be0d-6913-4c6b-979c-82aa24818636 + 1 + + + + + + 1222 + 1360 + 14 + 24 + + + 1230.5 + 1372 + + + + + + + + Curve length + 521ecbcc-92bd-4be6-8ee1-aa564a831ff7 + true + Length + L + false + 0 + + + + + + 1266 + 1360 + 15 + 24 + + + 1273.5 + 1372 + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.artists import Artist +from compas.datastructures import Assembly +from compas.datastructures import Part +from compas.geometry import Box +from compas.geometry import Polyhedron +from compas.geometry import Frame +from compas.geometry import Transformation +from compas.geometry import Translation +from compas.geometry import Line +from compas.geometry import Vector +from compas_rhino.conversions import RhinoPoint + +# Create twisted_tower as Assembly instance +twisted_tower = Assembly("exercise-twisted_tower") + +p = RhinoPoint.from_guid(point).to_compas() + +# Create brick frames +frames = [] +key = 0 +for row in range(int(rows)): + Trow = Translation.from_vector((0, 0, part_shape.height / 2. + part_shape.height * row)) + + # Create bricks as parts + width, height, depth = part_shape.width, part_shape.height, part_shape.depth + + shape = Box.from_width_height_depth(width, height, depth) + shape = Polyhedron(*shape.to_vertices_and_faces()) + + frame1 = Frame.from_points(p,(row/100,0,0),(0,row+.1,0)) + + Tf = Transformation.from_frame(frame1) + frame1 = Frame.from_transformation(Trow * Tf) + frames.append(frame1) + + part = Part(frame=frame1, shape=shape) + twisted_tower.add_part(part, key=str(key)) + key += 1 + +frames = [Artist(f).draw() for f in frames] +bricks = [Artist(brick.geometry).draw() for brick in twisted_tower.parts()] + + + GhPython provides a Python script component + + 868 + 0 + + + 1026 + 1089 + + true + true + true + false + c7353a31-5abf-45be-90f0-55dd59204a5a + false + true + GhPython Script + Assembly + + + + + + 742 + 1942 + 171 + 84 + + + 819 + 1984 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 58104afb-e033-49b3-8dc3-d17f43586164 + points + point + true + 0 + true + f921aec8-99f0-4f31-9ecf-a64deecd669c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 744 + 1944 + 60 + 26 + + + 775.5 + 1957.333 + + + + + + + + true + Script input rows. + 9be9c84c-de5d-498f-8323-692b51f31262 + rows + rows + true + 0 + true + 0a5f2979-c4d5-468b-8f97-65db6ea9ea53 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 744 + 1970 + 60 + 27 + + + 775.5 + 1984 + + + + + + + + true + Script input part_shape. + d9c29e90-62d8-4e77-b493-208d6256ab0a + part_shape + part_shape + true + 0 + true + d1932fe6-e9bc-443b-9766-ced466e8ef35 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 744 + 1997 + 60 + 27 + + + 775.5 + 2010.667 + + + + + + + + Script output frames. + 65d5618b-3fb3-4fcc-96c5-3d9803535019 + frames + frames + false + 0 + + + + + + 834 + 1944 + 77 + 20 + + + 872.5 + 1954 + + + + + + + + Script output curve. + f8b77126-664f-4377-9a06-0401cb4fd556 + curve + curve + false + 0 + + + + + + 834 + 1964 + 77 + 20 + + + 872.5 + 1974 + + + + + + + + Script output bricks. + cc0a565d-2f83-41a9-a44d-81dd2e8b9dc2 + bricks + bricks + false + 0 + + + + + + 834 + 1984 + 77 + 20 + + + 872.5 + 1994 + + + + + + + + Script output twisted_tower. + f56b1369-1dfc-49b5-8059-d424a70ff8e9 + wall + twisted_tower + false + 0 + + + + + + 834 + 2004 + 77 + 20 + + + 872.5 + 2014 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + f921aec8-99f0-4f31-9ecf-a64deecd669c + Point + Pt + false + 0 + + + + + + 662 + 1945 + 50 + 24 + + + 687.9374 + 1957.629 + + + + + + 1 + + + + + 1 + {0} + + + + + + + + 30a87f18-ddf4-4fb9-96cf-4374ac20fe77 + -1 + 0 + 0 + point_object + + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 98337494-d707-4c05-80b4-6b26d825990c + Number Slider + + false + 0 + + + + + + 199 + 1966 + 160 + 20 + + + 199.4213 + 1966.42 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.03 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 8f16cc2d-b299-49b7-8d23-e554b83ac060 + Number Slider + + false + 0 + + + + + + 197 + 1986 + 162 + 20 + + + 197.4585 + 1986.328 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.07 + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.geometry import Box +from compas.artists import Artist + +part = Box.from_diagonal([(width / -2., depth / -2., 0), (width / 2., depth / 2., height)]) +a = Artist(part).draw() + + GhPython provides a Python script component + + 102 + 102 + + + 625 + 625 + + true + true + true + false + 87141931-4b50-4b4f-b997-cdcb4e150435 + false + true + GhPython Script + Part + + + + + + 386 + 1963 + 102 + 64 + + + 441 + 1995 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 0e7262fe-9caf-4e17-91a2-8f7037d42c44 + width + width + true + 0 + true + 98337494-d707-4c05-80b4-6b26d825990c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 388 + 1965 + 38 + 20 + + + 408.5 + 1975 + + + + + + + + true + Script input depth. + dee04dbf-92b9-485c-8d89-d67077f813f3 + depth + depth + true + 0 + true + 8f16cc2d-b299-49b7-8d23-e554b83ac060 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 388 + 1985 + 38 + 20 + + + 408.5 + 1995 + + + + + + + + true + Script input height. + c7b69733-bf74-4c4d-8539-30ac3d103bad + height + height + true + 0 + true + ca1f23a0-4f71-4daf-88d0-d071e68f4dff + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 388 + 2005 + 38 + 20 + + + 408.5 + 2015 + + + + + + + + Script output a. + b965f226-b5f0-405c-acda-ccd2520e8570 + a + a + false + 0 + + + + + + 456 + 1965 + 30 + 30 + + + 471 + 1980 + + + + + + + + Script output part. + d1932fe6-e9bc-443b-9766-ced466e8ef35 + part + part + false + 0 + + + + + + 456 + 1995 + 30 + 30 + + + 471 + 2010 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + ca1f23a0-4f71-4daf-88d0-d071e68f4dff + Number Slider + height + false + 0 + + + + + + 195 + 2005 + 164 + 20 + + + 195.1292 + 2005.998 + + + + + + 3 + 1 + 0 + 0.1 + 0.001 + 0 + 0.005 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 0a5f2979-c4d5-468b-8f97-65db6ea9ea53 + Number Slider + + false + 0 + + + + + + 557 + 1973 + 160 + 20 + + + 557.3634 + 1973.666 + + + + + + 3 + 1 + 1 + 20 + 1 + 0 + 20 + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + true + fb777ae2-05e3-4cba-8ac7-54f361538ee2 + Geometry + Geo + false + 65d5618b-3fb3-4fcc-96c5-3d9803535019 + 1 + + + + + + 920 + 1943 + 50 + 24 + + + 945.7576 + 1955.159 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 18059101-26a2-4aa5-8006-ea219c0a9b76 + Geometry + Geo + false + f8b77126-664f-4377-9a06-0401cb4fd556 + 1 + + + + + + 921 + 1963 + 50 + 24 + + + 946.1384 + 1975.241 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + c9eacc80-707f-4de1-9f8b-a468ed2f41bf + Geometry + Geo + false + cc0a565d-2f83-41a9-a44d-81dd2e8b9dc2 + 1 + + + + + + 920 + 1982 + 50 + 24 + + + 945.6905 + 1994.835 + + + + + + + + + + 06953bda-1d37-4d58-9b38-4b3c74e54c8f + File Path + + + + + Contains a collection of file paths + false + All files|*.* + d2fe5387-e9e7-4e23-9e28-71903f2e5024 + File Path + Path + false + 0 + + + + + + 1076 + 2022 + 50 + 24 + + + 1101.649 + 2034.584 + + + + + + 1 + + + + + 1 + {0} + + + + + false + C:\Users\grangeot\Documents\COMPAS-II-FS2022\lecture_07\assignment_04\maxence_grangeot\601_assembly_design.json + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 46bf1ff9-4ad6-4714-a0a4-0dc84c96457d + Boolean Toggle + Toggle + false + 0 + true + + + + + + 1021 + 2043 + 104 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + To JSON + + + + + """ +Serializes COMPAS objects to JSON. +""" +from ghpythonlib.componentbase import executingcomponent as component + +import compas + + +class CompasInfo(component): + def RunScript(self, data, filepath, pretty): + json = filepath + + if filepath: + compas.json_dump(data, filepath, pretty) + else: + json = compas.json_dumps(data, pretty) + + return json + + Serializes COMPAS objects to JSON. + + 128 + 128 + + + 741 + 702 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDgAACw4BQL7hQQAAA/hJREFUSEu1VFtoY1UUPemMOoNJW3WUqdb+qTD+CCIKfqhQRRQZ7AvmqyD+CMIIBXH+/JB+qEUYEFTUjlrnoymYGamhjU3bNH2m6btpm8Q0k0fTR9KkeU2eXZ6905s0nU7nZ+bAuvfcs/dZa529D1cAeKAoTeT0fuJYgcMjl8shlUohkUhgb28PoVAI29vb2NjYgMfjwfr6OhwOB1ZWVrC4uIi5uTlMT09jYmLi3gL7+/uwWCyorKzk5HA4jJ2dHbS0tKC5uRlutxtOp5NjGo0G3d3dsFqtmJqawtjY2L0FyH1VVRUnRyIRdr+1tcXkTU1NcLlcsNvtsNls0Gq1UKvVbIjcm83mkwXy+TxvJvfRaBS7u7tcmkAgAK/Xy6Uh96urq1haWsL8/DwL6HQ6jI6OwmQynSyQzWY5oa2tjd0Hg0Fsbm7C7/ez+4aGBqytrbH7hYUFzMzMoLW1lfeMjIxgcHDw7gJUmnQ6zZvpBIp7pbGNjY28mRpL7pXG0gl6enowPDyMgYGBooAcqjKBTCaDZDKJWCzGAuSG3Pt8vrLGLi8vc2nIfVdXFwso7g0Gw90F6FrG43G+lkNDQ8VbRO6psTRXruXs7Cx/E3lnZyfnk/u+vj5el1BJVJQJkHulsXQtlcYq7g83lq7l5OQk3zRqrNFoRH9/P/R6vSJw5g6B+4xqiZLAIaE3CUfXD2J0bMIpiYckyKVagsiekHhK4rxEjcTTEqUeHBC89LAQaQLNj8SOkp+VqJQg4hpZ+8ZwPGmPpnJZmc9Drpc1uVpa8bwtj0egOa0diheaVk7+pERtOJa0yxwks3mMexP4YTqI78a3aUkyHRDIM958TojstdMCvz0i8HyFyD6mEjeVuBxEflqCysLkHR0dryXSuYyM48ZqBJ/2evGR7hY+7/fDHkrRckFArRJXzqhE/ieNwJ/VAtcfF/jlnMBZuaapEFc4sVAaWT2uOZWlNi7JE5k8vjD4cEnrKuL3uSCR0ygIyJ1xuYFYoK0V6Kkr3YZTKhHnxIJ7Kg01tGY3fttJDJ/pPbh43VGGn607FKJREFAgB3QvCNy4UCA/EqPaPypxjhpKwUxuH1+bN1B/baUMfc4ITO4opdwp0PuywD+vlE5wDM4Howl7LJ1Dm96NQCwDe/A2PvnbhVd/XOQ3xeo7bccLGN4Q+PctgYF6AeM7AoPvCgy9JzD8QVHgmVAik9XZQrhwdZbx/WQAUUlK7ylfjN+0fqyAQma6KH+/HwqYmwRGWwTGLxUF6mjnx3858Ow3liJevDqDX61b8EfT+NLo4W/mpIeCA4IT0d7e/jrtfP+PZVR9NV5E3bcWeCIpXO79D+ZbeyzEnPR4cID4H16JTadLIAk6AAAAAElFTkSuQmCC + + false + 3a7f835d-50a2-477c-b5cb-4dfeaf0d3278 + true + true + To JSON + To JSON + + + + + + 1164 + 2002 + 108 + 64 + + + 1225 + 2034 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + COMPAS data objects to serialize. + 8203055e-932e-435f-8f43-7a3147498254 + data + data + true + 0 + true + f56b1369-1dfc-49b5-8059-d424a70ff8e9 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1166 + 2004 + 44 + 20 + + + 1189.5 + 2014 + + + + + + + + true + File path where to store the JSON file. If empty, it will not store to disk but instead return the JSON string. + db4e90c7-8179-4815-898d-c9ae8eee58e2 + filepath + filepath + true + 0 + true + d2fe5387-e9e7-4e23-9e28-71903f2e5024 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1166 + 2024 + 44 + 20 + + + 1189.5 + 2034 + + + + + + + + true + If True, JSON data will be formatted with indentation and key sorting. + 711ae3bc-9172-4c06-93d5-31f5779dbc36 + pretty + pretty + true + 0 + true + 46bf1ff9-4ad6-4714-a0a4-0dc84c96457d + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1166 + 2044 + 44 + 20 + + + 1189.5 + 2054 + + + + + + + + JSON file path or JSON string. + b86d388a-a46b-4914-b43e-e3b666e66fd2 + json + json + false + 0 + + + + + + 1240 + 2004 + 30 + 60 + + + 1255 + 2034 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + c7353a31-5abf-45be-90f0-55dd59204a5a + f921aec8-99f0-4f31-9ecf-a64deecd669c + 98337494-d707-4c05-80b4-6b26d825990c + 8f16cc2d-b299-49b7-8d23-e554b83ac060 + 87141931-4b50-4b4f-b997-cdcb4e150435 + ca1f23a0-4f71-4daf-88d0-d071e68f4dff + 0a5f2979-c4d5-468b-8f97-65db6ea9ea53 + fb777ae2-05e3-4cba-8ac7-54f361538ee2 + 18059101-26a2-4aa5-8006-ea219c0a9b76 + c9eacc80-707f-4de1-9f8b-a468ed2f41bf + d2fe5387-e9e7-4e23-9e28-71903f2e5024 + 46bf1ff9-4ad6-4714-a0a4-0dc84c96457d + 3a7f835d-50a2-477c-b5cb-4dfeaf0d3278 + 13 + 371a48d4-eefc-44fb-ab18-fd2add2eaf05 + Group + ORIGINAL + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 6a3e7a59-a7f2-4468-8e27-6cd0b89957cc + 67aa8b41-5216-4071-8951-46dfccb74a5f + 83af6127-2874-42f0-8e7a-f3c93c2b8748 + ce7fc1e3-12d8-40c3-9570-9ca71092447d + e12fa466-9b6b-4082-b83d-1d2d2eb0cd6e + 4ee932fb-f1bb-40e3-9671-439e632abaee + ba9e629a-b798-48e3-8fd4-513f429a9bda + 52cf1c2e-1fd2-4870-a9f3-a041a31b134f + d18f9f22-8cb0-44db-af25-b3beb520053b + c9f3d20e-1636-4c5f-bb72-e7fa8b95867e + e6ea3211-9916-45ca-a58b-95bb0c8a1e60 + 2056186e-1d98-4a34-8b2d-8ebac44e1c46 + bd534b7c-b324-4c6e-b1e5-9c447447fab3 + 08628884-4f0a-48ce-b68a-c15f65d412c9 + 25ca2a2c-296b-4fea-9433-543f2e5e488c + f85d30a9-dfd6-4fd5-813a-6e93eedb6ee2 + 62c5851d-c118-4caf-8da4-bd5dc0693d00 + 1d9eed09-ad69-4d46-b35c-7ac02a85bb9f + d565be0d-6913-4c6b-979c-82aa24818636 + facac777-2907-4ce0-89f0-a19835f419ba + 57ad5c1a-d848-4e18-b34e-a460dec20d91 + 72fe73eb-4497-4173-bb87-64a0a3507fe7 + 01fb8235-cbe2-4cb8-b8f8-8798c9ad8e1f + 23 + a053970b-2e49-4475-8c0a-434373b877b8 + Group + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 3a7f835d-50a2-477c-b5cb-4dfeaf0d3278 + 1 + 52fc4b30-5a21-47d6-a841-1daf502c0517 + Group + DUMP WALL PART TO JSON + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + d62d4a76-2dac-464d-b64c-da4371716fba + Boolean Toggle + Connect + false + 0 + true + + + + + + 326 + 1812 + 110 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 60837e68-3b41-4f90-8e45-65b80c0e5cba + Boolean Toggle + Load robot + false + 0 + true + + + + + + 659 + 1797 + 124 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 781a5de8-c54c-4805-927f-519a45da032f + 4b0a07e0-a378-4f92-8f0a-6c1f1fb427f2 + 1d31a79f-b7ba-423f-944c-23f606999dae + eaec99d4-5f03-4209-953f-02aee1235de3 + 4a5bf47a-b0af-4831-a451-6b776364bb7e + 20c7f0ab-fd13-4bd7-a130-c6fe893d2a0b + d62d4a76-2dac-464d-b64c-da4371716fba + 60837e68-3b41-4f90-8e45-65b80c0e5cba + 2ceac33a-a5ff-4a42-8067-32e6a2c7fbee + ac227038-eb23-4cb5-94d8-f63bb92375a4 + 176af24c-bf1c-435d-8175-1a7c1d4ad7fd + dd5511ff-6568-4bbb-90f0-4a271fa102ba + 12 + 2f0caf2d-3168-45f6-9eb4-ab36596b71c4 + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Robot + + + + + """ +Load robot directly from ROS. + +COMPAS FAB v0.22.0 +""" +from compas_ghpython.artists import RobotModelArtist +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +from compas_fab.ghpython.components import create_id + + +class ROSRobot(component): + def RunScript(self, ros_client, load): + key = create_id(self, 'robot') + + if ros_client and ros_client.is_connected and load: + # Load URDF from ROS + st[key] = ros_client.load_robot(load_geometry=True, precision='12f') + st[key].artist = RobotModelArtist(st[key].model) + + robot = st.get(key, None) + if robot: # client sometimes need to be restarted, without needing to reload geometry + robot.client = ros_client + return robot + + Load robot directly from ROS. +COMPAS FAB v0.22.0 + + 128 + 128 + + + 741 + 702 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAVtJREFUSEu9lMFRwzAQRVMCJaSElJASUgIlUAGTEhguXHPinBJSAiWkBDow/9n6ZmWtQzwYduaNpdVqtf5redN13Z+SOtckdS5B9iCeeKbrmXMJsrNg8CkOzXo1Gao5iYtg4z6uR2SP4iqY+Ans3Y5xk00sTjfsBcmOgbjOmMK2wvs/mgNKQL8o3sRzmb8Iy5BRySLbifHNpwsM3gWHvJY5ByAb44xKRtkoTz+vJkNiBn7CQXAIr29oqNd7OWTIhHxMrmNOD0oQb2EdSYL2VUUlDjlJ5kKQMDa8lahsdEPdNFfUHFLiiYsNJ766D9WG3lHLYy7TOCOjEArLi2gcQ7ATR2bvxC1yZ/7VjI1bQu4cXjt+KeaYxd8idQLJQmLDoelPbY7UaWTxCzGnLHaO1Glkv2546xhubUz2E8i2m+YxreP7Ji9htvmt4x8O4Ffhn9q93C/R2qTO9eg2XxfZxOCoCLXEAAAAAElFTkSuQmCC + + false + 176af24c-bf1c-435d-8175-1a7c1d4ad7fd + true + true + ROS Robot + Robot + + + + + + 815 + 1776 + 124 + 44 + + + 885 + 1798 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ROS client. + dd537805-fdb9-428f-b193-6587b8dff3bc + ros_client + ros_client + true + 0 + true + b6b64253-54f0-4415-8415-e0af0c2650e4 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 817 + 1778 + 53 + 20 + + + 845 + 1788 + + + + + + + + true + If True, loads the robot from ROS. Defaults to False. + 582c11bd-a213-45ad-9359-39140069497a + load + load + true + 0 + true + 60837e68-3b41-4f90-8e45-65b80c0e5cba + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 817 + 1798 + 53 + 20 + + + 845 + 1808 + + + + + + + + The robot. + c0014914-ed14-4e23-80c6-a784a2d18f3e + robot + robot + false + 0 + + + + + + 900 + 1778 + 37 + 40 + + + 918.5 + 1798 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Connect + + + + + """ +Connect or disconnect to ROS. + +COMPAS FAB v0.22.0 +""" +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +from compas_fab.backends import RosClient +from compas_fab.ghpython.components import create_id + + +class ROSConnect(component): + def RunScript(self, ip, port, connect): + ros_client = None + + ip = ip or '127.0.0.1' + port = port or 9090 + + key = create_id(self, 'ros_client') + ros_client = st.get(key, None) + + if ros_client: + st[key].close() + if connect: + st[key] = RosClient(ip, port) + st[key].run(5) + + ros_client = st.get(key, None) + is_connected = ros_client.is_connected if ros_client else False + return (ros_client, is_connected) + + Connect or disconnect to ROS. +COMPAS FAB v0.22.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAdZJREFUSEu1lD2O4kAQRrkBcwP2BnADfARuABEhcAMcEEyCQKuVCCEkY27A3ADCyUAimQyHm/V+r9bNNp5iSLwtPWF/9dvdZRohhP+KK9aJK9aJK9aJKzpk4k08W4XYiB/CYquJPJbX6zVMp9PQbrcV0XhIt9sN6/VaIVZoQLyXMGVC8piYXwp5jMfj0Gq1zK/f7yvUVsdLGnkRBV0RlHT2/g2WHH+KonmJI4PD4ZA6HwVFPd9IR1hTzWZTj76Tcjay1Wr1QWIKnE6n0Ov17DnhXeSiWnTJbvHZ7/d3BkNrg3E2m/2OBbiH4XCITkLg+YhNnMVtakRuib0CWgMMYlMUxetutzPH8vwZ00f+HB8auznHe6CxagDdnMt3ztPOkunAWYsiPcF3YYxGo19ZloXtdvtT78d4b9yDVpEmf8Eg8qiJt7gLCi0WC9v2IxjV6Mu9aU3SAh2MYhI1wZaPBMcZfwadl8n5oqX8Sya7OZkhgSJoge1Xu04pE/Ot3E4hTUQBmyDB+d7ZBIU4f4INBmE+n3/meR4ul8tS2pe4+5e/91CURRjH7BuYIIYCX/vf8fgqaKYFHxEvz6CZh8nBFUGLQl7nN7y4Kq5YJ65YJ65YJ65YH6HxB7b14P1B22tpAAAAAElFTkSuQmCC + + false + dd5511ff-6568-4bbb-90f0-4a271fa102ba + true + true + ROS Connect + ROS + + + + + + 479 + 1771 + 153 + 64 + + + 542 + 1803 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ip address ROS. Defaults to 127.0.0.1. + a48941c3-0987-4525-a77d-e1f6ccef026a + ip + ip + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 481 + 1773 + 46 + 20 + + + 505.5 + 1783 + + + + + + + + true + The port of ROS. Defaults to 9090. + 84ef3f39-55ff-4c08-8f77-585dbdbebb60 + port + port + true + 0 + true + 0 + 48d01794-d3d8-4aef-990e-127168822244 + + + + + + 481 + 1793 + 46 + 20 + + + 505.5 + 1803 + + + + + + + + true + If True, connects to ROS. If False, disconnects from ROS. Defaults to False. + c62627c4-690b-4731-96e3-47ed1b61423b + connect + connect + true + 0 + true + d62d4a76-2dac-464d-b64c-da4371716fba + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 481 + 1813 + 46 + 20 + + + 505.5 + 1823 + + + + + + + + The ROS client. + b6b64253-54f0-4415-8415-e0af0c2650e4 + ros_client + ros_client + false + 0 + + + + + + 557 + 1773 + 73 + 30 + + + 593.5 + 1788 + + + + + + + + True if connection established. + e07a8763-de18-4314-bbc6-2ea8ec74a9b3 + is_connected + is_connected + false + 0 + + + + + + 557 + 1803 + 73 + 30 + + + 593.5 + 1818 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Robot Visualize + + + + + """ +Visualizes the robot. + +COMPAS FAB v0.24.0 +""" +from compas.geometry import Frame +from compas.geometry import Transformation +from compas_ghpython.artists import FrameArtist +from compas_ghpython.artists import MeshArtist +from ghpythonlib.componentbase import executingcomponent as component + + +class RobotVisualize(component): + def RunScript(self, robot, group, configuration, attached_collision_meshes, show_visual, show_collision, + show_frames, show_base_frame, show_end_effector_frame, show_acm): + + visual = None + collision = None + attached_meshes = None + frames = None + base_frame = None + ee_frame = None + + if robot: + show_visual = True if show_visual is None else show_visual + configuration = configuration or robot.zero_configuration() + + robot.update(configuration, visual=show_visual, collision=show_collision) + compas_frames = robot.transformed_frames(configuration, group) + + if show_visual: + visual = robot.artist.draw_visual() + + if show_collision: + collision = robot.artist.draw_collision() + + if show_base_frame: + base_compas_frame = compas_frames[0] + artist = FrameArtist(base_compas_frame) + base_frame = artist.draw() + + if show_end_effector_frame: + ee_compas_frame = robot.forward_kinematics(configuration, group, options=dict(solver='model')) + artist = FrameArtist(ee_compas_frame) + ee_frame = artist.draw() + + if show_frames: + frames = [] + for compas_frame in compas_frames[1:]: + artist = FrameArtist(compas_frame) + frame = artist.draw() + frames.append(frame) + + if show_acm: + attached_meshes = [] + for acm in attached_collision_meshes: + frame = robot.forward_kinematics(configuration, options=dict(solver='model', link_name=acm.link_name)) + T = Transformation.from_frame_to_frame(Frame.worldXY(), frame) + mesh = acm.collision_mesh.mesh.transformed(T) + attached_meshes.append(MeshArtist(mesh).draw()) + + return (visual, collision, attached_meshes, frames, base_frame, ee_frame) + + Visualizes the robot. +COMPAS FAB v0.24.0 + true + true + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALEQAACxEBf2RfkQAAAdhJREFUSEu1lLFKA0EQhlUIQVBMOhGLgGAtxAcIYmmRJpWNrZ2dhSCWqURtxC6VRSofIYWlhS8QyBMEOzvP/zt2jtm9VSLEg+9ud2bnn9nZu1spiuJfyRqXSdb4F3ZvX1vigmfOXzP8FQm/iEJ8iH7qjyZUIUZiIgjseb9HvjMxE4jbE4jt2Lo0CGca0BOI3Ti8nzGFdYTFv9cShAWlUzyK6zC/E9aGHFFbND8Q1c5TBwHPgiQPYU4C2uZFPVEbNa/aA9wqg5wIE2RP6AuSsH2DAzV/2Q49aRPtwzYzTW5VBXKwC+sjIvQ+qiiso52IWSG00B941CKfwA7UDs0qqiUJ61nnD5z10ffALe2hb48x8Ws88lEIhWWLqBnC4jQBRIUsStYosdxbUx6croFgAJcWo6st5sE+ruw28EiMbfs3xbjBnxWKEw8quw1SEEvEgaQtCQydWJv1zjb3OpFoisT8G2KMJNINYlBWq8t2NfQakWCKxH48cAlNg+CT8AmPvUYkCArmq82JRmydnJeCa+sbX42dvfsgPk31ogko2L7kX9m+GpcJYLXR/AzjqD0QTUDBCyWA5v5hlSTQTfWiCSiQX4X91H5l8+jUzgHeUi2oGZZN1rg8ipVvhzuVIxcFIsQAAAAASUVORK5CYII= + + false + e81369df-f9ce-42cc-add9-c90f49e63879 + true + true + Robot Visualize + Robot Visualize + + + + + + 1013 + 1664 + 261 + 204 + + + 1164 + 1766 + + + + + + 10 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 6 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + 0969c29d-fd23-4d4c-bb00-538d1f684679 + robot + robot + true + 0 + true + c0014914-ed14-4e23-80c6-a784a2d18f3e + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1015 + 1666 + 134 + 20 + + + 1083.5 + 1676 + + + + + + + + true + The planning group used for end-effector and base visualization. + a8781199-1de8-432d-98db-ec96b628cef7 + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1015 + 1686 + 134 + 20 + + + 1083.5 + 1696 + + + + + + + + true + The robot's full configuration. + 39bfe2b6-c281-4e86-bace-ab9afa8b3ec0 + configuration + configuration + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1015 + 1706 + 134 + 20 + + + 1083.5 + 1716 + + + + + + + + 1 + true + A list of attached collision meshes. + c5f44e7e-3514-4f9e-bd5c-a6192f098303 + attached_collision_meshes + attached_collision_meshes + true + 1 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1015 + 1726 + 134 + 20 + + + 1083.5 + 1736 + + + + + + + + true + Whether or not to show the robot's visual meshes. + 372d7a29-d8c2-4b0d-9170-4c4822667d85 + show_visual + show_visual + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1015 + 1746 + 134 + 20 + + + 1083.5 + 1756 + + + + + + + + true + Whether or not to show the robot's collision meshes. + f6bbc2fb-a484-4eb7-9873-c03776aad89f + show_collision + show_collision + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1015 + 1766 + 134 + 20 + + + 1083.5 + 1776 + + + + + + + + true + Whether or not to show the robot's joint frames. + 67b6fe00-9085-4f81-b74b-a9168d466595 + show_frames + show_frames + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1015 + 1786 + 134 + 20 + + + 1083.5 + 1796 + + + + + + + + true + Whether or not to show the robot's base frame. + 3665517d-d084-4fec-ab02-c4fa08dcf0c6 + show_base_frame + show_base_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1015 + 1806 + 134 + 20 + + + 1083.5 + 1816 + + + + + + + + true + Whether or not to show the robot's end-effector frame. + b8e34570-d775-4e01-bd6e-ca6629b58a74 + show_end_effector_frame + show_end_effector_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1015 + 1826 + 134 + 20 + + + 1083.5 + 1836 + + + + + + + + true + Whether or not to show the attached collision meshes (if any). + a9236d70-38c7-4549-9b7e-611fd0ba5ae3 + show_acm + show_acm + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1015 + 1846 + 134 + 20 + + + 1083.5 + 1856 + + + + + + + + The robot's visual Rhino meshes (if any). + e1a489f3-47b1-4b21-9ffc-383545727c55 + visual + visual + false + 0 + + + + + + 1179 + 1666 + 93 + 33 + + + 1225.5 + 1682.667 + + + + + + + + The robot's collision Rhino meshes (if any). + defe828c-40e9-4296-b219-673dde6fd23f + collision + collision + false + 0 + + + + + + 1179 + 1699 + 93 + 33 + + + 1225.5 + 1716 + + + + + + + + The attached collision Rhino meshes (if any). + 4031565d-b3ff-46d5-9bc7-dd4a9f42f16f + attached_meshes + attached_meshes + false + 0 + + + + + + 1179 + 1732 + 93 + 34 + + + 1225.5 + 1749.333 + + + + + + + + The robot's joint frames as Rhino planes (if any). + bb496dad-5579-4f5d-8331-b29793a92c6d + frames + frames + false + 0 + + + + + + 1179 + 1766 + 93 + 33 + + + 1225.5 + 1782.667 + + + + + + + + The robot's base frame as a Rhino plane (if any). + 24930deb-7a5e-406e-a5cb-46a60fe8608f + base_frame + base_frame + false + 0 + + + + + + 1179 + 1799 + 93 + 33 + + + 1225.5 + 1816 + + + + + + + + The robot's end-effector frame as a Rhino plane (if any). + f8416d9b-6d6f-44d4-9d98-d9c6dbd372cb + ee_frame + ee_frame + false + 0 + + + + + + 1179 + 1832 + 93 + 34 + + + 1225.5 + 1849.333 + + + + + + + + + + + + + + + + + + + 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}, + "velocities": [ + 0.17842522152663914, + 0.520849107567041, + -0.07340178525425098, + 0.4842558023875162, + -0.0007350770135824952, + -0.013511866446411653 + ] + }, + { + "accelerations": [ + -0.33972953194040445, + -0.9917197916938565, + 0.13976025325709887, + -0.9220445163352294, + 0.0013996192221437742, + 0.025727192737688098 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "joint_types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "joint_values": [ + -0.11147861271322684, + 4.918836150652569, + 2.150976464230697, + -2.3410583240636456, + 4.711198609931818, + 1.4502691957812863 + ], + "time_from_start": { + "nsecs": 488744357, + "secs": 1 + }, + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "start_configuration": { + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "joint_values": [ + -0.306, + 4.351, + 2.231, + -2.869, + 4.712, + 1.465 + ] + } + } + } + }, + "features": [], + "frame": { + "point": [ + 0.2766985709670664, + 0.25973210777907607, + 0.0475 + ], + "xaxis": [ + -0.5836692737346991, + -0.8119914894246176, + 0.0 + ], + "yaxis": [ + -0.8119914894246176, + 0.5836692737346991, + 1.2246063538223773e-16 + ] + }, + "key": "9", + "shape": { + "faces": [ + [ + 0, + 1, + 2, + 3 + ], + [ + 0, + 3, + 5, + 4 + ], + [ + 3, + 2, + 6, + 5 + ], + [ + 2, + 1, + 7, + 6 + ], + [ + 1, + 0, + 4, + 7 + ], + [ + 4, + 5, + 6, + 7 + ] + ], + "vertices": [ + { + "dtype": "compas.geometry/Point", + "value": [ + -0.015, + -0.035, + -0.0025 + ] + }, + { + "dtype": "compas.geometry/Point", + "value": [ + -0.015, + 0.035, + -0.0025 + ] + }, + { + "dtype": "compas.geometry/Point", + "value": [ + 0.015, + 0.035, + -0.0025 + ] + }, + { + "dtype": "compas.geometry/Point", + "value": [ + 0.015, + -0.035, + -0.0025 + ] + }, + { + "dtype": "compas.geometry/Point", + "value": [ + -0.015, + -0.035, + 0.0025 + ] + }, + { + "dtype": "compas.geometry/Point", + "value": [ + 0.015, + -0.035, + 0.0025 + ] + }, + { + "dtype": "compas.geometry/Point", + "value": [ + 0.015, + 0.035, + 0.0025 + ] + }, + { + "dtype": "compas.geometry/Point", + "value": [ + -0.015, + 0.035, + 0.0025 + ] + } + ] + }, + "transformations": [] + } + } + } + } + } + } +} \ No newline at end of file diff --git a/lecture_07/assignment_04/maxence_grangeot/603_assembly_planning.py b/lecture_07/assignment_04/maxence_grangeot/603_assembly_planning.py new file mode 100644 index 0000000..740c258 --- /dev/null +++ b/lecture_07/assignment_04/maxence_grangeot/603_assembly_planning.py @@ -0,0 +1,272 @@ +import math +import os + +from compas_fab.backends import RosClient +from compas_fab.robots import AttachedCollisionMesh +from compas_fab.robots import CollisionMesh +from compas_fab.robots import PlanningScene +from compas_fab.robots import Tool + +import compas +from compas.datastructures import Mesh +from compas.geometry import Box +from compas.geometry import Frame +from compas.geometry import Translation +from compas.topology import breadth_first_ordering + +HERE = os.path.dirname(__file__) + +# Load assembly +filename = os.path.join(HERE, '602_assembly_sequenced.json') +assembly = compas.json_load(filename) + + +def get_tool(): + current_folder = os.path.dirname(__file__) + mesh = Mesh.from_stl(os.path.join(current_folder, "vacuum_gripper.stl")) + frame = Frame([0, 0, 0.08], [1, 0, 0], [0, 1, 0]) + tool = Tool(mesh, frame, link_name="wrist_3_link") + return tool + + +def get_approach_vector(part_key): + return (0, 0, 0.05) + + +def get_pick_frame(part_key): + return Frame((0.3, 0.1, 0.02), (-1, 0, 0), (0, 1, 0)) + + +def get_place_frame(part_key): + part = assembly.graph.node_attribute(part_key, "part") + return part.frame + + +def prepare_scene(robot, part_key): + scene = PlanningScene(robot) + box = Box.from_diagonal([(-0.7, -0.7, 0), (0.7, 0.7, -0.02)]) + mesh = Mesh.from_shape(box) + scene.add_collision_mesh(CollisionMesh(mesh, "floor")) + + for k in get_part_sequence(): + if part_key == k: + break + + part = assembly.graph.node_attribute(k, "part") + mesh = Mesh.from_shape(part.shape) + scene.append_collision_mesh(CollisionMesh(mesh, "brick_wall", frame=part.frame)) + + +def get_start_configuration(robot): + config = robot.zero_configuration() + config.joint_values = (-0.306, 4.351, 2.231, -2.869, 4.712, 1.465) + return config + + +def get_part_shape(part_key): + part = assembly.graph.node_attribute(part_key, "part") + return part.shape + + +def get_part_sequence(): + root_part_key = "0" + sequence = breadth_first_ordering(assembly.graph.adjacency, root_part_key) + return sequence + + +def get_tolerance_joints(): + return [math.radians(1)] * 6 + + +def get_planner_id(): + return "TRRT" + + +# PICK & PLACE PROCEDURE + +def adjust_to_attached_tool(robot, frame): + if not robot.attached_tool: + return frame + return robot.from_tcf_to_t0cf([frame])[0] + + +client = RosClient("localhost") +client.run() + +robot = client.load_robot() + +start_configuration = get_start_configuration(robot) + +tool = get_tool() +if tool: + robot.attach_tool(tool) + +assembly.attributes['start_configuration'] = start_configuration.data +assembly.attributes['tool'] = tool.data + +for part_key in get_part_sequence(): # NOTE: For quick testing, only take the first few parts in the sequence + part = assembly.graph.node_attribute(part_key, "part") + + scene = PlanningScene(robot) + scene.reset() + prepare_scene(robot, part_key) + + print("Part {}\n--------".format(part_key)) + print(" [ ] Pick frame + approach vector reachability\r", flush=True, end='') + pick_frame = adjust_to_attached_tool(robot, get_pick_frame(part_key)) + approach_pick_frame = pick_frame.transformed( + Translation.from_vector(get_approach_vector(part_key)) + ) + + approach_pick_config = robot.inverse_kinematics( + approach_pick_frame, start_configuration + ) + part.attributes["approach_pick_config"] = approach_pick_config + print(" [OK]") + + print(" [ ] Pick frame\r", flush=True, end='') + pick_config = robot.inverse_kinematics(pick_frame, approach_pick_config) + part.attributes["pick_config"] = pick_config + print(" [OK]") + + print(" [ ] Place frame + approach vector\r", flush=True, end='') + place_frame = adjust_to_attached_tool(robot, get_place_frame(part_key)) + approach_place_frame = place_frame.transformed( + Translation.from_vector(get_approach_vector(part_key)) + ) + + # we use the approach pick config as start, because we estimate is the closest + approach_place_config = robot.inverse_kinematics( + approach_place_frame, approach_pick_config + ) + part.attributes["approach_place_config"] = approach_place_config + print(" [OK]") + + print(" [ ] Place frame\r", flush=True, end='') + place_config = robot.inverse_kinematics(place_frame, approach_place_config) + part.attributes["place_config"] = place_config + print(" [OK]") + + print(" [ ] Pick path (before)\r", flush=True, end='') + frames = [approach_pick_frame, pick_frame] + pick_trajectory = robot.plan_cartesian_motion( + frames, + approach_pick_config, + options=dict( + max_step=0.01, + avoid_collisions=True, + ), + ) + + if pick_trajectory.fraction < 1.0: + raise Exception("Found a pick trajectory but it is not complete") + + print(" [OK]") + part.attributes["pick_trajectory"] = pick_trajectory + + print(" [ ] Pick path (after)\r", flush=True, end='') + frames = [pick_frame, approach_pick_frame] + + # Create ACM with shape + part_shape = get_part_shape(part_key) + part_mesh = Mesh.from_shape(part_shape) + + ee_link_name = robot.attached_tool.link_name + attach_frame = robot.attached_tool.frame.copy() + attach_frame.xaxis.x *= -1 + part_acms = [AttachedCollisionMesh(CollisionMesh(part_mesh, 'brick', attach_frame), ee_link_name)] + + pick_trajectory_after = robot.plan_cartesian_motion( + frames, + pick_trajectory.points[-1], + options=dict( + max_step=0.01, + avoid_collisions=True, + attached_collision_meshes=part_acms, + ), + ) + + if pick_trajectory_after.fraction < 1.0: + raise Exception("Found a pick trajectory (after) but it is not complete") + + print(" [OK]") + part.attributes["pick_trajectory_after"] = pick_trajectory_after + + print(" [ ] Place path (before)\r", flush=True, end='') + frames = [approach_place_frame, place_frame] + place_trajectory = robot.plan_cartesian_motion( + frames, + approach_place_config, + options=dict( + max_step=0.01, + avoid_collisions=True, + attached_collision_meshes=part_acms, + ), + ) + + if pick_trajectory.fraction < 1.0: + raise Exception("Found a place trajectory but it is not complete") + + print(" [OK]") + part.attributes["place_trajectory"] = place_trajectory + + print(" [ ] Place path (after)\r", flush=True, end='') + frames = [place_frame, approach_place_frame] + place_trajectory_after = robot.plan_cartesian_motion( + frames, + place_trajectory.points[-1], + options=dict( + max_step=0.01, + avoid_collisions=True, + ), + ) + + if place_trajectory_after.fraction < 1.0: + raise Exception("Found a place trajectory (after) but it is not complete") + + print(" [OK]") + part.attributes["place_trajectory_after"] = place_trajectory_after + + print(" [ ] Free space path\r", flush=True, end='') + goal_constraints = robot.constraints_from_configuration( + approach_place_config, + tolerances_above=get_tolerance_joints(), + tolerances_below=get_tolerance_joints(), + ) + + freespace_trajectory = robot.plan_motion( + goal_constraints, + approach_pick_config, + options=dict( + planner_id=get_planner_id(), + attached_collision_meshes=part_acms, + ), + ) + print(" [OK]") + part.attributes["freespace_trajectory"] = freespace_trajectory + + print(" [ ] Start config path\r", flush=True, end='') + goal_constraints = robot.constraints_from_configuration( + approach_pick_config, + tolerances_above=get_tolerance_joints(), + tolerances_below=get_tolerance_joints(), + ) + + start_trajectory = robot.plan_motion( + goal_constraints, start_configuration, options=dict(planner_id=get_planner_id()) + ) + print(" [OK]") + part.attributes["start_trajectory"] = start_trajectory + print() + + +scene = PlanningScene(robot) +scene.remove_collision_mesh("brick_wall") + +client.close() + +compas.json_dump( + assembly, + os.path.join(HERE, "603_assembly_planning.json"), + pretty=True, +) diff --git a/lecture_07/assignment_04/maxence_grangeot/605_viewer.ghx b/lecture_07/assignment_04/maxence_grangeot/605_viewer.ghx new file mode 100644 index 0000000..39287a8 --- /dev/null +++ b/lecture_07/assignment_04/maxence_grangeot/605_viewer.ghx @@ -0,0 +1,2514 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + c4f913db-409d-41a9-88e1-f6f90989047d + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 637527254194888879 + + 605_viewer.ghx + + + + + 0 + + + + + + -63 + -238 + + 1.25 + + + + + 0 + + + + + + + 0 + + + + + 2 + + + + + GhPython, Version=7.17.22102.5001, Culture=neutral, PublicKeyToken=null + 7.17.22102.5001 + + 00000000-0000-0000-0000-000000000000 + + + + + + + sof_gh_sofistik_rhino, Version=2020.8.7711.23201, Culture=neutral, PublicKeyToken=null + 2020.8.7711.23201 + + 2df17186-8b23-2910-b1a4-5b637e5c200f + sof_gh_sofistik_rhino + 2020.8.7711.23201 + + + + + + + 21 + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 47c152bc-c823-4835-aad3-3bf5c281e892 + Boolean Toggle + Connect + false + 0 + true + + + + + + 26 + 122 + 110 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + d19cf29a-0512-4632-b4e0-ecc00c5b8487 + Boolean Toggle + Load robot + false + 0 + true + + + + + + 359 + 107 + 124 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + bfe572e7-d997-4c3c-8488-4e03d01804ea + b278407c-79b3-49ef-a2c8-ee682b33d9ef + 6fe2e9d2-130c-4a02-b347-a1c6b831fc5a + 9a4be73c-3082-4c74-be27-41c7c1688c53 + 4 + 3dd78fb5-3c65-4715-b2db-b9489d44fd71 + Group + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 17028381-67dc-426c-b63d-aa99881b3b04 + Button + Refresh + false + 0 + + + + + + 780 + 395 + 106 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + d5ffda3e-a3ab-4688-9de8-1d9d9e2789e3 + 4b0a07e0-a378-4f92-8f0a-6c1f1fb427f2 + 1d31a79f-b7ba-423f-944c-23f606999dae + eaec99d4-5f03-4209-953f-02aee1235de3 + 4a5bf47a-b0af-4831-a451-6b776364bb7e + 5 + 5a4ca04f-0f26-4978-bcce-92edaa3c4b8e + Group + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 781a5de8-c54c-4805-927f-519a45da032f + 4b0a07e0-a378-4f92-8f0a-6c1f1fb427f2 + 1d31a79f-b7ba-423f-944c-23f606999dae + eaec99d4-5f03-4209-953f-02aee1235de3 + 4a5bf47a-b0af-4831-a451-6b776364bb7e + 20c7f0ab-fd13-4bd7-a130-c6fe893d2a0b + 47c152bc-c823-4835-aad3-3bf5c281e892 + d19cf29a-0512-4632-b4e0-ecc00c5b8487 + 2ceac33a-a5ff-4a42-8067-32e6a2c7fbee + ac227038-eb23-4cb5-94d8-f63bb92375a4 + b3787c61-219b-4ed9-b49f-1e7dd56236b1 + b395bfb0-5717-46c4-924c-a3ba167b1e0d + 12 + 8b8d6fbf-db19-4267-9188-c4fdd76620b6 + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Robot + + + + + """ +Load robot directly from ROS. + +COMPAS FAB v0.22.0 +""" +from compas_ghpython.artists import RobotModelArtist +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +from compas_fab.ghpython.components import create_id + + +class ROSRobot(component): + def RunScript(self, ros_client, load): + key = create_id(self, 'robot') + + if ros_client and ros_client.is_connected and load: + # Load URDF from ROS + st[key] = ros_client.load_robot(load_geometry=True, precision='12f') + st[key].artist = RobotModelArtist(st[key].model) + + robot = st.get(key, None) + if robot: # client sometimes need to be restarted, without needing to reload geometry + robot.client = ros_client + return robot + + Load robot directly from ROS. +COMPAS FAB v0.22.0 + + 128 + 128 + + + 741 + 702 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAVtJREFUSEu9lMFRwzAQRVMCJaSElJASUgIlUAGTEhguXHPinBJSAiWkBDow/9n6ZmWtQzwYduaNpdVqtf5redN13Z+SOtckdS5B9iCeeKbrmXMJsrNg8CkOzXo1Gao5iYtg4z6uR2SP4iqY+Ans3Y5xk00sTjfsBcmOgbjOmMK2wvs/mgNKQL8o3sRzmb8Iy5BRySLbifHNpwsM3gWHvJY5ByAb44xKRtkoTz+vJkNiBn7CQXAIr29oqNd7OWTIhHxMrmNOD0oQb2EdSYL2VUUlDjlJ5kKQMDa8lahsdEPdNFfUHFLiiYsNJ766D9WG3lHLYy7TOCOjEArLi2gcQ7ATR2bvxC1yZ/7VjI1bQu4cXjt+KeaYxd8idQLJQmLDoelPbY7UaWTxCzGnLHaO1Glkv2546xhubUz2E8i2m+YxreP7Ji9htvmt4x8O4Ffhn9q93C/R2qTO9eg2XxfZxOCoCLXEAAAAAElFTkSuQmCC + + false + b3787c61-219b-4ed9-b49f-1e7dd56236b1 + true + true + ROS Robot + Robot + + + + + + 515 + 86 + 124 + 44 + + + 585 + 108 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ROS client. + a34ce3d4-7190-487d-b89c-7803fbd9040c + ros_client + ros_client + true + 0 + true + 51bb7217-0489-4cbc-a975-8105ed3ab446 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 517 + 88 + 53 + 20 + + + 545 + 98 + + + + + + + + true + If True, loads the robot from ROS. Defaults to False. + ab79ae9f-675f-4a76-8274-91717421e6e2 + load + load + true + 0 + true + d19cf29a-0512-4632-b4e0-ecc00c5b8487 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 517 + 108 + 53 + 20 + + + 545 + 118 + + + + + + + + The robot. + 3d7f53c1-306c-4029-a7cf-3d86c2b6f41a + robot + robot + false + 0 + + + + + + 600 + 88 + 37 + 40 + + + 618.5 + 108 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Robot Visualize + + + + + """ +Visualizes the robot. + +COMPAS FAB v0.22.0 +""" +from compas.geometry import Transformation +from compas_ghpython.artists import FrameArtist +from compas_ghpython.artists import MeshArtist +from ghpythonlib.componentbase import executingcomponent as component + + +class RobotVisualize(component): + def RunScript(self, robot, group, configuration, attached_collision_meshes, show_visual, show_collision, + show_frames, show_base_frame, show_end_effector_frame, show_acm): + + visual = None + collision = None + attached_meshes = None + frames = None + base_frame = None + ee_frame = None + + if robot: + show_visual = True if show_visual is None else show_visual + configuration = configuration or robot.zero_configuration() + + robot.update(configuration, visual=show_visual, collision=show_collision) + compas_frames = robot.transformed_frames(configuration, group) + + if show_visual: + visual = robot.artist.draw_visual() + + if show_collision: + collision = robot.artist.draw_collision() + + if show_base_frame: + base_compas_frame = compas_frames[0] + artist = FrameArtist(base_compas_frame) + base_frame = artist.draw() + + if show_end_effector_frame: + ee_compas_frame = robot.forward_kinematics(configuration, group, options=dict(solver='model')) + artist = FrameArtist(ee_compas_frame) + ee_frame = artist.draw() + + if show_frames: + frames = [] + for compas_frame in compas_frames[1:]: + artist = FrameArtist(compas_frame) + frame = artist.draw() + frames.append(frame) + + if show_acm: + attached_meshes = [] + for acm in attached_collision_meshes: + frame = robot.forward_kinematics(configuration, options=dict(solver='model', link=acm.link_name)) + T = Transformation.from_frame_to_frame(acm.collision_mesh.frame, frame) + mesh = acm.collision_mesh.mesh.transformed(T) + attached_meshes.append(MeshArtist(mesh).draw()) + + return (visual, collision, attached_meshes, frames, base_frame, ee_frame) + + Visualizes the robot. +COMPAS FAB v0.22.0 + + 102 + 102 + + + 625 + 625 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAdhJREFUSEu1lLFKA0EQhlUIQVBMOhGLgGAtxAcIYmmRJpWNrZ2dhSCWqURtxC6VRSofIYWlhS8QyBMEOzvP/zt2jtm9VSLEg+9ud2bnn9nZu1spiuJfyRqXSdb4F3ZvX1vigmfOXzP8FQm/iEJ8iH7qjyZUIUZiIgjseb9HvjMxE4jbE4jt2Lo0CGca0BOI3Ti8nzGFdYTFv9cShAWlUzyK6zC/E9aGHFFbND8Q1c5TBwHPgiQPYU4C2uZFPVEbNa/aA9wqg5wIE2RP6AuSsH2DAzV/2Q49aRPtwzYzTW5VBXKwC+sjIvQ+qiiso52IWSG00B941CKfwA7UDs0qqiUJ61nnD5z10ffALe2hb48x8Ws88lEIhWWLqBnC4jQBRIUsStYosdxbUx6croFgAJcWo6st5sE+ruw28EiMbfs3xbjBnxWKEw8quw1SEEvEgaQtCQydWJv1zjb3OpFoisT8G2KMJNINYlBWq8t2NfQakWCKxH48cAlNg+CT8AmPvUYkCArmq82JRmydnJeCa+sbX42dvfsgPk31ogko2L7kX9m+GpcJYLXR/AzjqD0QTUDBCyWA5v5hlSTQTfWiCSiQX4X91H5l8+jUzgHeUi2oGZZN1rg8ipVvhzuVIxcFIsQAAAAASUVORK5CYII= + + false + a87a6a0d-8bb4-497c-84b8-96df1f4bd217 + true + true + Robot Visualize + Robot Visualize + + + + + + 782 + 88 + 261 + 204 + + + 933 + 190 + + + + + + 10 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 6 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + f8e4d60b-5c7d-48dd-a884-0909c03623a0 + robot + robot + true + 0 + true + 68724473-d62b-4475-9e4e-77afe9861d0e + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 784 + 90 + 134 + 20 + + + 852.5 + 100 + + + + + + + + true + The planning group used for end-effector and base visualization. + b8466ca5-a479-4a7d-bc9f-c907625ca08c + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 784 + 110 + 134 + 20 + + + 852.5 + 120 + + + + + + + + true + The robot's full configuration. + 1a217c48-22d0-4748-a222-62e7ec8ac096 + configuration + configuration + true + 0 + true + 4e83c647-4911-4d1c-bea9-72d49c075a5c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 784 + 130 + 134 + 20 + + + 852.5 + 140 + + + + + + + + 1 + true + A list of attached collision meshes. + fa9fb850-b867-4fd7-8a04-25da1e35be1d + attached_collision_meshes + attached_collision_meshes + true + 1 + true + d0e4a4cd-00c4-462d-9a30-591affc5ac83 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 784 + 150 + 134 + 20 + + + 852.5 + 160 + + + + + + + + true + Whether or not to show the robot's visual meshes. + 74f91ec4-391b-47ae-bc23-1a5eab8e22f8 + show_visual + show_visual + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 784 + 170 + 134 + 20 + + + 852.5 + 180 + + + + + + + + true + Whether or not to show the robot's collision meshes. + 2e77b661-fdd0-494f-86fc-8f3473229556 + show_collision + show_collision + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 784 + 190 + 134 + 20 + + + 852.5 + 200 + + + + + + + + true + Whether or not to show the robot's joint frames. + acd334bb-8389-47fa-b160-c03b63705bd2 + show_frames + show_frames + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 784 + 210 + 134 + 20 + + + 852.5 + 220 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + true + + + + + + + + + + + true + Whether or not to show the robot's base frame. + ca2c657e-d173-47c4-9bef-e93f3f942442 + show_base_frame + show_base_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 784 + 230 + 134 + 20 + + + 852.5 + 240 + + + + + + + + true + Whether or not to show the robot's end-effector frame. + 31d64b41-65c9-4c2c-b112-e7391fa918c3 + show_end_effector_frame + show_end_effector_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 784 + 250 + 134 + 20 + + + 852.5 + 260 + + + + + + + + true + Whether or not to show the attached collision meshes (if any). + 53598644-48b9-4a15-8136-36f6f57c32a0 + show_acm + show_acm + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 784 + 270 + 134 + 20 + + + 852.5 + 280 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + true + + + + + + + + + + + The robot's visual Rhino meshes (if any). + e926db46-928c-4569-b496-5cbf60627f54 + visual + visual + false + 0 + + + + + + 948 + 90 + 93 + 33 + + + 994.5 + 106.6667 + + + + + + + + The robot's collision Rhino meshes (if any). + 3ee5cd9a-7e9f-4cf5-81d0-f46f78d8ae15 + collision + collision + false + 0 + + + + + + 948 + 123 + 93 + 33 + + + 994.5 + 140 + + + + + + + + The attached collision Rhino meshes (if any). + 2de14ca4-26ad-4daf-ab2c-40b70bb439e8 + attached_meshes + attached_meshes + false + 0 + + + + + + 948 + 156 + 93 + 33 + + + 994.5 + 173.3333 + + + + + + + + The robot's joint frames as Rhino planes (if any). + b5f1fcfd-7f1f-4953-bfc1-7aff06160aec + frames + frames + false + 0 + + + + + + 948 + 190 + 93 + 33 + + + 994.5 + 206.6667 + + + + + + + + The robot's base frame as a Rhino plane (if any). + 09ba9e26-d9cb-45b0-9acb-acaa5af5f330 + base_frame + base_frame + false + 0 + + + + + + 948 + 223 + 93 + 33 + + + 994.5 + 240 + + + + + + + + The robot's end-effector frame as a Rhino plane (if any). + 995c1e6e-5fa2-4ff4-ab64-5421fb453a8f + ee_frame + ee_frame + false + 0 + + + + + + 948 + 256 + 93 + 34 + + + 994.5 + 273.3333 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas_fab.robots import PlanningScene + +from compas.artists import Artist +from compas.geometry import Frame +from compas.geometry import Transformation + + +scene = PlanningScene(robot) + +collision_meshes = [] +attached_collision_meshes = [] + +configuration = robot.zero_configuration() +scene = robot.client.get_planning_scene() + +for co in scene.world.collision_objects: + header = co.header + frame_id = header.frame_id + cms = co.to_collision_meshes() + + for cm in cms: + if cm.frame != Frame.worldXY(): + t = Transformation.from_frame(cm.frame) + mesh = cm.mesh.transformed(t) + else: + mesh = cm.mesh + + collision_meshes.append(mesh) + + for aco in scene.robot_state.attached_collision_objects: + for acm in aco.to_attached_collision_meshes(): + frame_id = aco.object["header"]["frame_id"] + frame = robot.forward_kinematics(configuration, options=dict(link=frame_id)) + t = Transformation.from_frame(frame) + + # Local CM frame + if (acm.collision_mesh.frame and acm.collision_mesh.frame != Frame.worldXY()): + t = t * Transformation.from_frame(acm.collision_mesh.frame) + + mesh = acm.collision_mesh.mesh.transformed(t) + + attached_collision_meshes.append(mesh) + +a = [] +for cm in collision_meshes + attached_collision_meshes: + a.append(Artist(cm).draw_mesh()) + GhPython provides a Python script component + + 128 + 128 + + + 625 + 625 + + true + true + false + 0f66c062-f420-491e-99bf-52f71c9dba1b + false + true + GhPython Script + Planning scene + + + + + + 949 + 358 + 90 + 44 + + + 1006 + 380 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 949f1693-7b48-439c-954f-d2c3bd5155d0 + robot + robot + true + 0 + true + 68724473-d62b-4475-9e4e-77afe9861d0e + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 951 + 360 + 40 + 20 + + + 972.5 + 370 + + + + + + + + true + Script input refresh. + a8991db6-0e94-49be-a9c2-5f275b0f191c + refresh + refresh + true + 0 + true + 17028381-67dc-426c-b63d-aa99881b3b04 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 951 + 380 + 40 + 20 + + + 972.5 + 390 + + + + + + + + Script output a. + 61fc884b-93ba-46f6-bb4a-68e3c2da4761 + a + a + false + 0 + + + + + + 1021 + 360 + 16 + 40 + + + 1029 + 380 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Connect + + + + + """ +Connect or disconnect to ROS. + +COMPAS FAB v0.22.0 +""" +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +from compas_fab.backends import RosClient +from compas_fab.ghpython.components import create_id + + +class ROSConnect(component): + def RunScript(self, ip, port, connect): + ros_client = None + + ip = ip or '127.0.0.1' + port = port or 9090 + + key = create_id(self, 'ros_client') + ros_client = st.get(key, None) + + if ros_client: + st[key].close() + if connect: + st[key] = RosClient(ip, port) + st[key].run(5) + + ros_client = st.get(key, None) + is_connected = ros_client.is_connected if ros_client else False + return (ros_client, is_connected) + + Connect or disconnect to ROS. +COMPAS FAB v0.22.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAdZJREFUSEu1lD2O4kAQRrkBcwP2BnADfARuABEhcAMcEEyCQKuVCCEkY27A3ADCyUAimQyHm/V+r9bNNp5iSLwtPWF/9dvdZRohhP+KK9aJK9aJK9aJKzpk4k08W4XYiB/CYquJPJbX6zVMp9PQbrcV0XhIt9sN6/VaIVZoQLyXMGVC8piYXwp5jMfj0Gq1zK/f7yvUVsdLGnkRBV0RlHT2/g2WHH+KonmJI4PD4ZA6HwVFPd9IR1hTzWZTj76Tcjay1Wr1QWIKnE6n0Ov17DnhXeSiWnTJbvHZ7/d3BkNrg3E2m/2OBbiH4XCITkLg+YhNnMVtakRuib0CWgMMYlMUxetutzPH8vwZ00f+HB8auznHe6CxagDdnMt3ztPOkunAWYsiPcF3YYxGo19ZloXtdvtT78d4b9yDVpEmf8Eg8qiJt7gLCi0WC9v2IxjV6Mu9aU3SAh2MYhI1wZaPBMcZfwadl8n5oqX8Sya7OZkhgSJoge1Xu04pE/Ot3E4hTUQBmyDB+d7ZBIU4f4INBmE+n3/meR4ul8tS2pe4+5e/91CURRjH7BuYIIYCX/vf8fgqaKYFHxEvz6CZh8nBFUGLQl7nN7y4Kq5YJ65YJ65YJ65YH6HxB7b14P1B22tpAAAAAElFTkSuQmCC + + false + b395bfb0-5717-46c4-924c-a3ba167b1e0d + true + true + ROS Connect + ROS + + + + + + 179 + 81 + 153 + 64 + + + 242 + 113 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ip address ROS. Defaults to 127.0.0.1. + 31f19737-dc6f-48d5-8f79-458e28a219a9 + ip + ip + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 181 + 83 + 46 + 20 + + + 205.5 + 93 + + + + + + + + true + The port of ROS. Defaults to 9090. + 0b8ffd50-d934-4b0e-b890-3dc6198aead1 + port + port + true + 0 + true + 0 + 48d01794-d3d8-4aef-990e-127168822244 + + + + + + 181 + 103 + 46 + 20 + + + 205.5 + 113 + + + + + + + + true + If True, connects to ROS. If False, disconnects from ROS. Defaults to False. + a7bcd195-8f9e-46e5-8ee0-d2963e6d5dfc + connect + connect + true + 0 + true + 47c152bc-c823-4835-aad3-3bf5c281e892 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 181 + 123 + 46 + 20 + + + 205.5 + 133 + + + + + + + + The ROS client. + 51bb7217-0489-4cbc-a975-8105ed3ab446 + ros_client + ros_client + false + 0 + + + + + + 257 + 83 + 73 + 30 + + + 293.5 + 98 + + + + + + + + True if connection established. + 36631ff9-a50d-4724-a685-339a8c579060 + is_connected + is_connected + false + 0 + + + + + + 257 + 113 + 73 + 30 + + + 293.5 + 128 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 17028381-67dc-426c-b63d-aa99881b3b04 + a87a6a0d-8bb4-497c-84b8-96df1f4bd217 + 0f66c062-f420-491e-99bf-52f71c9dba1b + 24f41d33-f070-475f-99f9-e07c643f6eed + b525d8c3-b33c-445b-903a-126952f48b7f + 5 + b0ec1c4b-87fd-4843-ab7a-bbcb3aeba8ba + Group + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 1fb2a096-9295-492c-91de-e94ed5ea700c + Number Slider + + false + 0 + + + + + + 261 + 300 + 160 + 20 + + + 261.0723 + 300.0844 + + + + + + 3 + 1 + 1 + 100 + 0 + 0 + 27 + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + trajectory_keys = ("start_trajectory", + "pick_trajectory", + "pick_trajectory_after", + "freespace_trajectory", + "place_trajectory", + "place_trajectory_after",) + +# NOTE: Replace this with assembly.find_by_key after this is merged: +# https://github.com/compas-dev/compas/pull/1032 +part = assembly.graph.node_attribute(str(int(part)), "part") + +lbound = 0 +ubound = 0 +i = int(i) +total = sum([len(part.attributes[traj_name].points) for traj_name in trajectory_keys]) +if i >= total: + raise Exception('Max number of trajectory points is ' + str(total)) + +for traj_name in trajectory_keys: + traj = part.attributes[traj_name] + ubound += len(traj.points) + + if i >= ubound: + lbound = ubound + continue + + config = traj.points[i - lbound] + acms = traj.attached_collision_meshes + break + + GhPython provides a Python script component + + 748 + 266 + + + 741 + 702 + + true + true + false + ef427d3d-0cb8-46a8-b3fe-e2deabea2dae + false + true + GhPython Script + Load plans + + + + + + 515 + 239 + 126 + 64 + + + 584 + 271 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 3 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Load plans + f9670fe3-5d33-44a7-bd7a-05eae705257b + assembly + assembly + true + 0 + true + a65a6ff1-9bfb-4c9f-9544-9e05fbd0d1e5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 517 + 241 + 52 + 20 + + + 544.5 + 251 + + + + + + + + true + Script input part. + 2e5da8b0-9317-449b-b596-4d8331ebae16 + part + part + true + 0 + true + b79b95f5-0c50-4cab-8538-5398e294941a + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 517 + 261 + 52 + 20 + + + 544.5 + 271 + + + + + + + + true + Script input i. + 4282fb34-6b43-482c-bd4e-55819b9314b1 + i + i + true + 0 + true + 1fb2a096-9295-492c-91de-e94ed5ea700c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 517 + 281 + 52 + 20 + + + 544.5 + 291 + + + + + + + + Script output total. + d5d3b17a-66b6-4c92-9497-754a9b23e3ee + total + total + false + 0 + + + + + + 599 + 241 + 40 + 20 + + + 619 + 251 + + + + + + + + Script output config. + 4e83c647-4911-4d1c-bea9-72d49c075a5c + config + config + false + 0 + + + + + + 599 + 261 + 40 + 20 + + + 619 + 271 + + + + + + + + Script output acms. + d0e4a4cd-00c4-462d-9a30-591affc5ac83 + acms + acms + false + 0 + + + + + + 599 + 281 + 40 + 20 + + + 619 + 291 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + b79b95f5-0c50-4cab-8538-5398e294941a + Number Slider + + false + 0 + + + + + + 261 + 274 + 160 + 20 + + + 261.0549 + 274.5244 + + + + + + 3 + 1 + 1 + 100 + 0 + 0 + 16 + + + + + + + + + 06953bda-1d37-4d58-9b38-4b3c74e54c8f + File Path + + + + + Contains a collection of file paths + false + All files|*.* + 33b94531-ff8d-4894-a4b1-ba64445ccb98 + File Path + Path + false + 0 + + + + + + 261 + 203 + 50 + 24 + + + 286.1203 + 215.2285 + + + + + + 1 + + + + + 1 + {0} + + + + + false + C:\Users\grangeot\Documents\COMPAS-II-FS2022\lecture_07\assignment_04\maxence_grangeot\603_assembly_planning.json + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 1fb2a096-9295-492c-91de-e94ed5ea700c + ef427d3d-0cb8-46a8-b3fe-e2deabea2dae + b79b95f5-0c50-4cab-8538-5398e294941a + 33b94531-ff8d-4894-a4b1-ba64445ccb98 + 8ec671f1-7f26-45e5-89b2-b17fb67f7612 + 0cf48ac9-cb12-4bc6-b576-c465cfcf7f8d + 6 + d821fd6f-d64c-4e6f-823a-f00a785c74c4 + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import compas +from compas_fab.robots import Tool + +assembly = compas.json_load(filename) +if 'tool' in assembly.attributes: + tool = Tool.from_data(assembly.attributes['tool']) + robot.attach_tool(tool) + + GhPython provides a Python script component + + 1179 + -663 + + + 741 + 702 + + true + true + false + 8ec671f1-7f26-45e5-89b2-b17fb67f7612 + false + true + GhPython Script + Load + + + + + + 337 + 203 + 138 + 64 + + + 403 + 235 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 131048d9-1bdd-4982-9cb4-d411ffabd072 + filename + filename + true + 0 + true + 33b94531-ff8d-4894-a4b1-ba64445ccb98 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 339 + 205 + 49 + 20 + + + 365 + 215 + + + + + + + + true + Script input robot. + d4db18e4-f019-44c1-9c1c-3283c14b5f92 + robot + robot + true + 0 + true + 3d7f53c1-306c-4029-a7cf-3d86c2b6f41a + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 339 + 225 + 49 + 20 + + + 365 + 235 + + + + + + + + true + Script input reload. + 34d23e95-862a-47a2-8acd-0c53b82b54ed + reload + reload + true + 0 + true + 0cf48ac9-cb12-4bc6-b576-c465cfcf7f8d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 339 + 245 + 49 + 20 + + + 365 + 255 + + + + + + + + Script output robot. + 68724473-d62b-4475-9e4e-77afe9861d0e + robot + robot + false + 0 + + + + + + 418 + 205 + 55 + 30 + + + 445.5 + 220 + + + + + + + + Script output assembly. + a65a6ff1-9bfb-4c9f-9544-9e05fbd0d1e5 + assembly + assembly + false + 0 + + + + + + 418 + 235 + 55 + 30 + + + 445.5 + 250 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.artists import Artist +from compas.topology import breadth_first_ordering + +a = [] + +root_part_key = "0" +sequence = breadth_first_ordering(assembly.graph.adjacency, root_part_key) +current_part = str(int(current_part)) + +for part_key in sequence: + part = assembly.graph.node_attribute(part_key, "part") + if only_until_current and str(part_key) == current_part: + break + mesh = part.geometry + artist = Artist(mesh) + a.append(artist.draw()) + + GhPython provides a Python script component + + 1474 + -644 + + + 741 + 702 + + true + true + false + 24f41d33-f070-475f-99f9-e07c643f6eed + false + true + GhPython Script + Built assembly + + + + + + 899 + 503 + 143 + 64 + + + 1009 + 535 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + b54a35b5-ba7a-4a54-aba0-0dd65f4cd112 + assembly + assembly + true + 0 + true + a65a6ff1-9bfb-4c9f-9544-9e05fbd0d1e5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 901 + 505 + 93 + 20 + + + 949 + 515 + + + + + + + + true + Script input current_part. + 8fd875c5-22a2-433f-9d25-d1eeae9c1e1d + current_part + current_part + true + 0 + true + b79b95f5-0c50-4cab-8538-5398e294941a + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 901 + 525 + 93 + 20 + + + 949 + 535 + + + + + + + + true + Script input only_until_current. + baf9f35b-fe4d-444f-a2e6-20abe40fb25a + only_until_current + only_until_current + true + 0 + true + b525d8c3-b33c-445b-903a-126952f48b7f + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 901 + 545 + 93 + 20 + + + 949 + 555 + + + + + + + + Script output a. + 4e584763-ed58-4db9-9320-cb59266598f7 + a + a + false + 0 + + + + + + 1024 + 505 + 16 + 60 + + + 1032 + 535 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 0cf48ac9-cb12-4bc6-b576-c465cfcf7f8d + Button + Button + false + 0 + + + + + + 214 + 244 + 103 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + b525d8c3-b33c-445b-903a-126952f48b7f + Boolean Toggle + Toggle + false + 0 + true + + + + + + 766 + 557 + 104 + 22 + + + + + + + + + + 7eba1aec-50a9-442f-a092-28f5d4470802 + 2df17186-8b23-2910-b1a4-5b637e5c200f + IO + + + + + IO Extension + 2e18999c-7c56-4561-ab0c-b5418da56ac1 + IO + IO + + + + + 2020 + 8 + Rhino-Interface + + + + + + -50 + -50 + 0 + 0 + + + + + + + + + + + + + + + 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 + + + + + \ No newline at end of file diff --git a/lecture_07/assignment_04/maxence_grangeot/610_assign_default_sequence.py b/lecture_07/assignment_04/maxence_grangeot/610_assign_default_sequence.py new file mode 100644 index 0000000..5b7aab3 --- /dev/null +++ b/lecture_07/assignment_04/maxence_grangeot/610_assign_default_sequence.py @@ -0,0 +1,21 @@ +import os + +import compas +from compas.utilities import pairwise + +HERE = os.path.dirname(__file__) + +# Load assembly +filename = os.path.join(HERE, '601_assembly_design.json') +assembly = compas.json_load(filename) + +# Define connectivity as a linear sequence dependant on implementation details (NOT a good idea!) +linear_sequence = list(assembly.parts()) +for a, b in pairwise(linear_sequence): + assembly.add_connection(a, b) + +print([part.key for part in linear_sequence]) + +# Save assembly +filename = os.path.join(HERE, '602_assembly_sequenced.json') +compas.json_dump(assembly, filename, pretty=True) diff --git a/lecture_07/assignment_04/maxence_grangeot/611_assign_linear_sequence.py b/lecture_07/assignment_04/maxence_grangeot/611_assign_linear_sequence.py new file mode 100644 index 0000000..f4505c8 --- /dev/null +++ b/lecture_07/assignment_04/maxence_grangeot/611_assign_linear_sequence.py @@ -0,0 +1,21 @@ +import os + +import compas +from compas.utilities import pairwise + +HERE = os.path.dirname(__file__) + +# Load assembly +filename = os.path.join(HERE, '601_assembly_design.json') +assembly = compas.json_load(filename) + +# Define connectivity as a linear sequence of integers +linear_sequence = sorted(assembly.parts(), key=lambda p: int(p.key)) +for a, b in pairwise(linear_sequence): + assembly.add_connection(a, b) + +print([part.key for part in linear_sequence]) + +# Save assembly +filename = os.path.join(HERE, '602_assembly_sequenced.json') +compas.json_dump(assembly, filename, pretty=True) diff --git a/lecture_07/assignment_04/maxence_grangeot/612_assembly_sequence.py b/lecture_07/assignment_04/maxence_grangeot/612_assembly_sequence.py new file mode 100644 index 0000000..aae912c --- /dev/null +++ b/lecture_07/assignment_04/maxence_grangeot/612_assembly_sequence.py @@ -0,0 +1,13 @@ +import os + +import compas +from compas.topology import breadth_first_ordering + +HERE = os.path.dirname(__file__) + +# Load assembly +filename = os.path.join(HERE, '602_assembly_sequenced.json') +assembly = compas.json_load(filename) + +sequence = breadth_first_ordering(assembly.graph.adjacency, "0") +print(sequence) diff --git a/lecture_07/assignment_04/maxence_grangeot/vacuum_gripper.stl b/lecture_07/assignment_04/maxence_grangeot/vacuum_gripper.stl new file mode 100644 index 0000000..f8dd68e Binary files /dev/null and b/lecture_07/assignment_04/maxence_grangeot/vacuum_gripper.stl differ