diff --git a/lecture_05/assignment_04/Ina Cheibas/assignment_04.gh b/lecture_05/assignment_04/Ina Cheibas/assignment_04.gh new file mode 100644 index 0000000..4656777 Binary files /dev/null and b/lecture_05/assignment_04/Ina Cheibas/assignment_04.gh differ diff --git a/lecture_05/assignment_04/Ina Cheibas/assignment_04.json b/lecture_05/assignment_04/Ina Cheibas/assignment_04.json new file mode 100644 index 0000000..07c15b8 --- /dev/null +++ b/lecture_05/assignment_04/Ina Cheibas/assignment_04.json @@ -0,0 +1,50 @@ +{ + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.1098088537866171e-06, + -2.3809746925694477, + -0.57573201133490481, + 2.9567067015069197, + 6.0005036445718341e-09, + -8.1098070635890222e-06 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 850668473, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.3801232187966011, + -1.1796893623772826, + 2.1201056715282007, + -2.511952554291963, + -1.571091965893971, + 1.9509194360437245 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } +} \ No newline at end of file diff --git a/lecture_05/assignment_04/Ina Cheibas/brick_wall.JPG b/lecture_05/assignment_04/Ina Cheibas/brick_wall.JPG new file mode 100644 index 0000000..1730d92 Binary files /dev/null and b/lecture_05/assignment_04/Ina Cheibas/brick_wall.JPG differ diff --git a/lecture_05/assignment_04/Ina Cheibas/vacuum_gripper.stl b/lecture_05/assignment_04/Ina Cheibas/vacuum_gripper.stl new file mode 100644 index 0000000..4fbbb2e Binary files /dev/null and b/lecture_05/assignment_04/Ina Cheibas/vacuum_gripper.stl differ diff --git a/lecture_06/assignment_05/Ina Cheibas/assembly.py b/lecture_06/assignment_05/Ina Cheibas/assembly.py new file mode 100644 index 0000000..793aec5 --- /dev/null +++ b/lecture_06/assignment_05/Ina Cheibas/assembly.py @@ -0,0 +1,81 @@ +from compas.datastructures import Datastructure +from compas.datastructures import Network +from compas.geometry import Transformation +from compas.geometry import Translation + + +class Assembly(Network): + def __init__(self): + super(Assembly, self).__init__() + + @property + def approach_offset(self): + return self.attributes['approach_offset'] + + @approach_offset.setter + def approach_offset(self, value): + self.attributes['approach_offset'] = value + + @property + def pick_t0cf_frame(self): + return self.attributes['pick_t0cf_frame'] + + @pick_t0cf_frame.setter + def pick_t0cf_frame(self, frame): + self.attributes['pick_t0cf_frame'] = frame.copy() + + def pick_t0cf_frames(self): + if self.approach_offset: + approach_frame = self.pick_t0cf_frame.copy() + approach_frame.transform(Translation.from_vector([0, 0, self.approach_offset])) + return [approach_frame, self.pick_t0cf_frame, approach_frame] + + return [self.pick_t0cf_frame] + + @property + def pick_trajectory(self): + return self.attributes['pick_trajectory'] + + @pick_trajectory.setter + def pick_trajectory(self, trajectory): + self.attributes['pick_trajectory'] = trajectory + + def add_element(self, element, key=None, attr_dict={}, **kwattr): + attr_dict.update(kwattr) + x, y, z = element.frame.point + key = self.add_node(key=key, attr_dict=attr_dict, + x=x, y=y, z=z, element=element) + return key + + def element(self, key): + return self.node[key]['element'] + +class Element(Datastructure): + def __init__(self, frame=None, approach_frame=None, geometry_at_origin=None): + super(Element, self).__init__() + self.frame = frame + self.approach_frame = approach_frame + self.geometry_at_origin = geometry_at_origin + self.trajectory = None + + @property + def data(self): + return dict( + frame=self.frame, + approach_frame=self.approach_frame, + geometry_at_origin=self.geometry_at_origin, + trajectory=self.trajectory, + ) + + @data.setter + def data(self, data): + self.frame = data['frame'] + self.approach_frame = data['approach_frame'] + self.geometry_at_origin = data['geometry_at_origin'] + self.trajectory = data['trajectory'] + + @property + def geometry_at_placement(self): + T = Transformation.from_frame(self.frame) + return self.geometry_at_origin.transformed(T) + diff --git a/lecture_06/assignment_05/Ina Cheibas/assignment_05.gh b/lecture_06/assignment_05/Ina Cheibas/assignment_05.gh new file mode 100644 index 0000000..fa099d3 Binary files /dev/null and b/lecture_06/assignment_05/Ina Cheibas/assignment_05.gh differ diff --git a/lecture_06/assignment_05/Ina Cheibas/assignment_05.json b/lecture_06/assignment_05/Ina Cheibas/assignment_05.json new file mode 100644 index 0000000..34b2e47 --- /dev/null +++ b/lecture_06/assignment_05/Ina Cheibas/assignment_05.json @@ -0,0 +1,157902 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "1.1.0", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "100": {}, + "101": {}, + "102": {}, + "103": {}, + "104": {}, + "105": {}, + 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No newline at end of file diff --git a/lecture_06/assignment_05/Ina Cheibas/brick_wall.JPG b/lecture_06/assignment_05/Ina Cheibas/brick_wall.JPG new file mode 100644 index 0000000..4db36d9 Binary files /dev/null and b/lecture_06/assignment_05/Ina Cheibas/brick_wall.JPG differ diff --git a/lecture_06/assignment_05/Ina Cheibas/helpers.py b/lecture_06/assignment_05/Ina Cheibas/helpers.py new file mode 100644 index 0000000..caf8a1b --- /dev/null +++ b/lecture_06/assignment_05/Ina Cheibas/helpers.py @@ -0,0 +1,22 @@ +from functools import partial + +import compas_rhino + +from compas.utilities import color_to_colordict + +colordict = partial(color_to_colordict, colorformat='rgb', normalize=False) + +def draw_directed_edges(artist, edges=None, color=None): + node_xyz = artist.node_xyz + edges = edges or list(artist.network.edges()) + edge_color = colordict(color, edges, default=artist.color_edges) + lines = [] + for edge in edges: + lines.append({ + 'start': node_xyz[edge[0]], + 'end': node_xyz[edge[1]], + 'color': edge_color[edge], + 'arrow': 'end', + 'name': "{}.edge.{}-{}".format(artist.network.name, *edge)}) + return compas_rhino.draw_lines(lines, layer=artist.layer, clear=False, redraw=False) + diff --git a/lecture_06/assignment_05/Ina Cheibas/simple_curve.JPG b/lecture_06/assignment_05/Ina Cheibas/simple_curve.JPG new file mode 100644 index 0000000..05dcdc5 Binary files /dev/null and b/lecture_06/assignment_05/Ina Cheibas/simple_curve.JPG differ diff --git a/lecture_06/assignment_05/Ina Cheibas/vacuum_gripper.stl b/lecture_06/assignment_05/Ina Cheibas/vacuum_gripper.stl new file mode 100644 index 0000000..4fbbb2e Binary files /dev/null and b/lecture_06/assignment_05/Ina Cheibas/vacuum_gripper.stl differ