From 8c6fa7f6f7f130c881c346daa833c3c9b10151ef Mon Sep 17 00:00:00 2001 From: cheibasethz <67361206+cheibasethz@users.noreply.github.com> Date: Mon, 22 Mar 2021 15:38:16 +0100 Subject: [PATCH 1/3] assignment_03 --- .../Ina_Cheibas/assignment_03.py | 61 + .../assignment_03/Ina_Cheibas/json_file.json | 1 + .../assignment_03/Ina_Cheibas/robot_IC.JPG | Bin 0 -> 69038 bytes .../Ina_Cheibas/solution_viewer_IC.ghx | 2554 +++++++++++++++++ lecture_04/assignment_03/README.md | 111 + lecture_04/assignment_03/robot_ik.png | Bin 0 -> 38794 bytes lecture_04/assignment_03/solution_viewer.ghx | 1599 +++++++++++ 7 files changed, 4326 insertions(+) create mode 100644 lecture_04/assignment_03/Ina_Cheibas/assignment_03.py create mode 100644 lecture_04/assignment_03/Ina_Cheibas/json_file.json create mode 100644 lecture_04/assignment_03/Ina_Cheibas/robot_IC.JPG create mode 100644 lecture_04/assignment_03/Ina_Cheibas/solution_viewer_IC.ghx create mode 100644 lecture_04/assignment_03/README.md create mode 100644 lecture_04/assignment_03/robot_ik.png create mode 100644 lecture_04/assignment_03/solution_viewer.ghx diff --git a/lecture_04/assignment_03/Ina_Cheibas/assignment_03.py b/lecture_04/assignment_03/Ina_Cheibas/assignment_03.py new file mode 100644 index 0000000..1a339db --- /dev/null +++ b/lecture_04/assignment_03/Ina_Cheibas/assignment_03.py @@ -0,0 +1,61 @@ +# """Assignment 03: Using inverse kinematics +# """ +import json +import os +from compas_fab.backends import RosClient +from compas_fab.robots import Configuration + +from compas.geometry import Frame +from compas.geometry import Point +from compas.geometry import Vector +from compas_fab.utilities import write_data_to_json + +# This function defines the inputs of your assignment, you get a compas_fab.robots.Robot and a Frame +# and are expected to return ONE valid configuration to reach that frame +def calculate_ik(robot, frame): + # 1. define a valid start configuration for your frames + start_configuration = robot.zero_configuration() + # 2. use inverse kinematics to find out a valid configuration + configuration = robot.inverse_kinematics(frame, start_configuration) + # print("Found configuration", configuration) + return configuration + +def store_configurations(configurations): + # 3. store all found configurations in a JSON file + here = os.path.dirname(__file__) + path = os.path.abspath(os.path.join(here, "json_file.json")) + configuration_json =[] + for configuration in configurations: + configuration_json.append(configuration.data) + write_data_to_json(configuration_json, path) + # pass + +# Use the following to test from the command line +# Or copy solution_viewer.ghx next to the folder where you created assignment_03.py to visualize the same in Grasshopper +if __name__ == '__main__': + frame_list = [ + Frame(Point(0.084, 0.319, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.152, 0.317, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.220, 0.315, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.288, 0.313, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.357, 0.310, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.425, 0.308, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.493, 0.306, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.561, 0.303, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.629, 0.301, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.698, 0.299, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.766, 0.297, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)) + ] + + # Loads the robot from ROS + with RosClient('localhost') as client: + robot = client.load_robot() + + # And call our assignment functions for each frame in the example + configurations = [] + for frame in frame_list: + configuration = calculate_ik(robot, frame) + configurations.append(configuration) + print("Found configuration", configuration) + + store_configurations(configurations) diff --git a/lecture_04/assignment_03/Ina_Cheibas/json_file.json b/lecture_04/assignment_03/Ina_Cheibas/json_file.json new file mode 100644 index 0000000..1ec3526 --- /dev/null +++ b/lecture_04/assignment_03/Ina_Cheibas/json_file.json @@ -0,0 +1 @@ +[{"values": [0.976078363261034, -1.7780488306966473, 2.4617245667866854, 4.028713154383872, -1.5707957468816511, -5.307106919934683], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.8079938349589121, -1.713939000686214, 2.413332352436608, 4.012995614924675, -1.5707963034001717, -5.475191464890447], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.6730875675426738, -1.625558388632981, 2.3373754689399604, 4.000571898493998, -1.5707963259015891, -5.6100977392838915], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.5674544577662692, -1.5246540982791121, 2.2370996786572257, 3.9999414557329187, -1.570792617097228, -5.71573001790566], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.48209439170835877, -1.417932754365546, 2.1152981855643556, 4.015023549153634, -1.5707963267772316, -5.801090915453641], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.4176304961675426, -1.3083059781448465, 1.9741483564036988, 4.046546601991473, -1.570796326791587, -5.865554811011181], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.3662570428298472, -0.798095445627455, 1.1526290795196055, 1.2162631971332498, 1.5708009510862122, -2.775334104343202], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.32317907393168216, -0.6425288248959476, 0.8649530578185218, 1.3483720938373887, 1.5707963268039622, -2.8184135796685608], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.28915421777182626, -0.40201278791523776, 0.3972959631909142, 1.5755132086032237, 1.5707963327353642, -2.852438430245078], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.26047556463166643, -0.8165892546138344, 1.1859340534492933, -1.9401392607757912, 4.712398719079365, 0.26047223661172336], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}, {"values": [0.23663217142911275, 0.19305691236338549, -0.8830550524290014, -0.8807981865273994, -1.5707963274799297, 0.23663217143298923], "types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}] \ No newline at end of file diff --git a/lecture_04/assignment_03/Ina_Cheibas/robot_IC.JPG b/lecture_04/assignment_03/Ina_Cheibas/robot_IC.JPG new file mode 100644 index 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6.33.20343.16431 + + 00000000-0000-0000-0000-000000000000 + + + + + + + gramaziokohler@arch.ethz.ch + 237883f1-9678-4abe-9e20-2ceed9e6c611 + COMPAS FAB + 0.17.0 + + + + + + + 18 + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;252;255;253 + + A group of Grasshopper objects + d92ba719-b0a5-4de7-b6cf-05e055d719c8 + 3819b7b8-2f14-4349-a3cb-d3ef9e70893e + 2 + 0d436412-3623-45f4-a7f7-97808d70def3 + Group + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + c7d255bb-e9cf-4deb-b4de-248fedfcc9fd + Boolean Toggle + Connect + false + 0 + true + + + + + + 10 + 183 + 110 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 1e891ee1-8c8e-4909-bfa8-9478fe5871e0 + Boolean Toggle + Load + false + 0 + true + + + + + + 25 + 232 + 94 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import Grasshopper +import System +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 SetUpParam(self, p, name, nickname, description): + p.Name = name + p.NickName = nickname + p.Description = description + p.Optional = True + + def RegisterInputParams(self, pManager): + + p = Grasshopper.Kernel.Parameters.Param_String() + self.SetUpParam(p, "ip", "ip", "The ip address of ROS master. Defaults to 127.0.0.1") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Integer() + self.SetUpParam(p, "port", "port", "The port of ROS master. Defaults to 9090.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Boolean() + self.SetUpParam(p, "connect", "connect", "If `True`, connect to ROS. If `False`, disconnect from ROS. Defaults to False.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + def RegisterOutputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.") + self.Params.Output.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Boolean() + self.SetUpParam(p, "is_connected", "is_connected", "`True` if connection established.") + self.Params.Output.Add(p) + + def SolveInstance(self, DA): + p0 = self.marshal.GetInput(DA, 0) + p1 = self.marshal.GetInput(DA, 1) + p2 = self.marshal.GetInput(DA, 2) + result = self.RunScript(p0, p1, p2) + + if result is not None: + if not hasattr(result, '__getitem__'): + self.marshal.SetOutput(result, DA, 0, True) + else: + self.marshal.SetOutput(result[0], DA, 0, True) + self.marshal.SetOutput(result[1], DA, 1, True) + + 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) + + GhPython provides a Python script component + + 229 + 390 + + + 684 + 571 + + true + true + 1 + 16792f65-ce66-4c57-8894-6616e5c283b2 + true + true + GhPython Script + ROS Connect + + + + + + 190 + 180 + 153 + 98 + + + 253 + 229 + + + + + + 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 + bc487b96-bbd1-45ff-a269-709492ef66e4 + ip + ip + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 192 + 182 + 46 + 31 + + + 216.5 + 197.6667 + + + + + + + + true + Script input port. + 8dafae00-13b3-4180-96aa-a0883d701b13 + port + port + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 192 + 213 + 46 + 31 + + + 216.5 + 229 + + + + + + + + true + Script input connect. + 240bb7a7-af6c-4d1f-93e0-151a5caf22d7 + connect + connect + true + 0 + true + c7d255bb-e9cf-4deb-b4de-248fedfcc9fd + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + + + + + + 192 + 244 + 46 + 32 + + + 216.5 + 260.3333 + + + + + + + + Script output ros_client. + c7b9e319-1fa7-42fd-a6f8-74960f4607b1 + ros_client + ros_client + false + 0 + + + + + + 268 + 182 + 73 + 47 + + + 304.5 + 205.5 + + + + + + + + Script output is_connected. + c6056edc-9888-40d0-aa77-cd5f2feb3fca + is_connected + is_connected + false + 0 + + + + + + 268 + 229 + 73 + 47 + + + 304.5 + 252.5 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import Grasshopper +import System +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +import compas +from compas_fab.ghpython.components import create_id +from compas_fab.ghpython.components.icons import ros_robot_icon +from compas_ghpython.artists import RobotModelArtist + + +class ROSRobot(component): + def SetUpParam(self, p, name, nickname, description): + p.Name = name + p.NickName = nickname + p.Description = description + p.Optional = True + + def RegisterInputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Boolean() + self.SetUpParam(p, "load", "load", "If `True`, loads the robot from ROS. Defaults to False.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + def RegisterOutputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "robot", "robot", "The robot.") + self.Params.Output.Add(p) + + def SolveInstance(self, DA): + p0 = self.marshal.GetInput(DA, 0) + p1 = self.marshal.GetInput(DA, 1) + result = self.RunScript(p0, p1) + + if result is not None: + self.marshal.SetOutput(result, DA, 0, True) + + def get_Internal_Icon_24x24(self): + return ros_robot_icon + + def RunScript(self, ros_client, load): + self.Message = "Loading..." + compas.PRECISION = '12f' + + key = create_id(self, 'robot') + + if ros_client and ros_client.is_connected and load: + # Load URDF from ROS + robot = ros_client.load_robot(load_geometry=True) + robot.artist = RobotModelArtist(robot.model) + self.Message = "{} loaded".format(robot.name) + st[key] = robot + else: + if st.get(key): + self.Message = "{} loaded".format(st.get(key).name) + else: + self.Message = "No robot" + + robot = st.get(key, None) + if robot: # client sometimes need to be restarted, without needing to reload geometry + robot.client = ros_client + return robot + + GhPython provides a Python script component + + 234 + 234 + + + 985 + 852 + + true + true + 1 + 84446ac2-e8f7-4c7d-9d31-dab3deade42d + true + true + GhPython Script + Load robot + + + + + + 382 + 183 + 124 + 85 + + + 452 + 226 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 257eb709-9e93-49a7-a6aa-2732f7b895ff + ros_client + ros_client + true + 0 + true + c7b9e319-1fa7-42fd-a6f8-74960f4607b1 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 384 + 185 + 53 + 40 + + + 412 + 205.25 + + + + + + + + true + Script input load. + 95e3d164-949e-4dee-9eb6-29af6bb30c8c + load + load + true + 0 + true + 1e891ee1-8c8e-4909-bfa8-9478fe5871e0 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 384 + 225 + 53 + 41 + + + 412 + 245.75 + + + + + + + + Script output robot. + 3ed86f74-1de1-4921-9f0a-88c71b4fe431 + robot + robot + false + 0 + + + + + + 467 + 185 + 37 + 81 + + + 485.5 + 225.5 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 16792f65-ce66-4c57-8894-6616e5c283b2 + c7d255bb-e9cf-4deb-b4de-248fedfcc9fd + 1e891ee1-8c8e-4909-bfa8-9478fe5871e0 + 84446ac2-e8f7-4c7d-9d31-dab3deade42d + 4 + ca5efeaf-96ea-4f51-8b8c-044bf95f301c + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import Grasshopper +import System +from ghpythonlib.componentbase import executingcomponent as component + +from compas.geometry import Frame +from compas.geometry import Transformation +from compas_ghpython.artists import MeshArtist +from compas_fab.ghpython.components.icons import robot_visualize_icon +from compas_ghpython import draw_frame + +class RobotVisualize(component): + def SetUpParam(self, p, name, nickname, description): + p.Name = name + p.NickName = nickname + p.Description = description + p.Optional = True + + def RegisterInputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "robot", "robot", "The robot.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_String() + self.SetUpParam(p, "group", "group", "The planning group used for end-effector and base visualization.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "configuration", "configuration", "The robot's full configuration.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + def RegisterOutputParams(self, pManager): + + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "visual", "visual", "The robot's visual meshes.") + self.Params.Output.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "frames", "frames", "The robot's joint frames.") + self.Params.Output.Add(p) + + def SolveInstance(self, DA): + p0 = self.marshal.GetInput(DA, 0) + p1 = self.marshal.GetInput(DA, 1) + p2 = self.marshal.GetInput(DA, 2) + result = self.RunScript(p0, p1, p2) + + if result is not None: + if not hasattr(result, '__getitem__'): + self.marshal.SetOutput(result, DA, 0, True) + else: + self.marshal.SetOutput(result[0], DA, 0, True) + self.marshal.SetOutput(result[1], DA, 1, True) + + def get_Internal_Icon_24x24(self): + return robot_visualize_icon + + def RunScript(self, robot, group, configuration): + + visual = None + frames = None + + if robot: + configuration = configuration or robot.zero_configuration() + + robot.update(configuration, visual=True, collision=False) + frames = [draw_frame(f) for f in robot.transformed_frames(configuration, group)] + + visual = robot.artist.draw_visual() + + return (visual, frames) + + GhPython provides a Python script component + + 26 + 26 + + + 821 + 880 + + true + true + true + 1 + d92ba719-b0a5-4de7-b6cf-05e055d719c8 + true + true + GhPython Script + Visualize + + + + + + 1000 + 131 + 149 + 71 + + + 1089 + 167 + + + + + + 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 + 75daab22-274f-4680-935a-d2ce741fbfb8 + robot + robot + true + 0 + true + 3ed86f74-1de1-4921-9f0a-88c71b4fe431 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1002 + 133 + 72 + 22 + + + 1039.5 + 144.1667 + + + + + + + + true + Script input group. + ab62d43f-55e4-40bc-b35d-5058612cf67d + group + group + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1002 + 155 + 72 + 22 + + + 1039.5 + 166.5 + + + + + + + + true + Script input configuration. + ab3c6284-a593-4306-93fc-a41fafd11939 + configuration + configuration + true + 0 + true + 6c5c47d3-b49d-4dbf-a287-2305b02558e7 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1002 + 177 + 72 + 23 + + + 1039.5 + 188.8333 + + + + + + + + Script output visual. + 3c3e87e3-e762-403e-b46d-656bc19b634a + visual + visual + false + 0 + + + + + + 1104 + 133 + 43 + 33 + + + 1125.5 + 149.75 + + + + + + + + Script output frames. + 0db55873-ae6a-4aa8-a4d8-88d7a8ed7872 + frames + frames + false + 0 + + + + + + 1104 + 166 + 43 + 34 + + + 1125.5 + 183.25 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas_ghpython import unload_modules +unload_modules('assignment_03') + +from compas_rhino.geometry import RhinoPlane +from assignment_03 import calculate_ik + +frame = RhinoPlane.from_geometry(frame).to_compas() +configuration = calculate_ik(robot, frame) + + GhPython provides a Python script component + + 1434 + 279 + + + 1128 + 831 + + true + true + 205c786a-b8cf-4a07-8455-eea7b91954d2 + false + true + GhPython Script + Python + + + + + + 595 + 385 + 144 + 44 + + + 647 + 407 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + ba3333a4-a4af-41c9-9db8-4a84ea6a37df + robot + robot + true + 0 + true + 3ed86f74-1de1-4921-9f0a-88c71b4fe431 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 597 + 387 + 35 + 20 + + + 616 + 397 + + + + + + + + true + Script input frame. + c640367c-4d94-4702-8a36-9b422631f663 + frame + frame + true + 0 + true + d271c9d0-0319-41bf-a54f-4aed4359cc92 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 597 + 407 + 35 + 20 + + + 616 + 417 + + + + + + + + Script output configuration. + 66f1bdea-7701-4476-b28d-6ea50cb1a15e + configuration + configuration + false + 0 + + + + + + 662 + 387 + 75 + 40 + + + 699.5 + 407 + + + + + + + + + + + + + + 59daf374-bc21-4a5e-8282-5504fb7ae9ae + List Item + + + + + 0 + Retrieve a specific item from a list. + 7198f137-5adf-40bd-9365-ce004651bcdf + List Item + Item + + + + + + 791 + 381 + 64 + 64 + + + 825 + 413 + + + + + + 3 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 2e3ab970-8545-46bb-836c-1c11e5610bce + cb95db89-6165-43b6-9c41-5702bc5bf137 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + Base list + a71a26e2-bc83-4c3a-bb49-8f2a379f82e6 + List + L + false + 66f1bdea-7701-4476-b28d-6ea50cb1a15e + 1 + + + + + + 793 + 383 + 17 + 20 + + + 803 + 393 + + + + + + + + Item index + 7da95829-d7e8-4d73-b01e-2a3b037c616a + Index + i + false + 9c88f1df-80d2-4fc0-a569-528fab1a8314 + 1 + + + + + + 793 + 403 + 17 + 20 + + + 803 + 413 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + Wrap index to list bounds + 5349e571-6e69-4fef-be96-8ba696ebf207 + Wrap + W + false + 0 + + + + + + 793 + 423 + 17 + 20 + + + 803 + 433 + + + + + + 1 + + + + + 1 + {0} + + + + + true + + + + + + + + + + + Item at {i'} + 6c5c47d3-b49d-4dbf-a287-2305b02558e7 + false + Item + i + false + 0 + + + + + + 840 + 383 + 13 + 60 + + + 846.5 + 413 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 9c88f1df-80d2-4fc0-a569-528fab1a8314 + Number Slider + + false + 0 + + + + + + 606 + 442 + 160 + 20 + + + 606.9343 + 442.8208 + + + + + + 3 + 1 + 1 + 10 + 0 + 0 + 2 + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 205c786a-b8cf-4a07-8455-eea7b91954d2 + 7198f137-5adf-40bd-9365-ce004651bcdf + 9c88f1df-80d2-4fc0-a569-528fab1a8314 + 716141ca-3bd8-4b27-8dca-290a69e4a2eb + 062798e6-32ef-4c9b-8170-1a7e38c2d811 + 5 + a10ab389-c3a2-495c-979b-e89e0f6f17c4 + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import rhinoscriptsyntax as rs +import Rhino.Geometry as rg +from compas.geometry import Frame +from compas_ghpython import draw_frame +from compas_rhino.geometry import RhinoPlane + +pt1 = rg.Point3d(0, 0.5, 0) +pt2 = rg.Point3d(0.3, 0.2, 0) +pt3 = rg.Point3d(0.9, 0.4, 0) +point_list = [pt1, pt2, pt3] +curve = rs.AddCurve(point_list, 3) +div_nr = 10 +divide_curve = rs.DivideCurve(curve, div_nr, True, True) + +x_vt = rg.Vector3d(0, 0, -1) +y_vt = rg.Vector3d(0, 1, 0) +x_list = [] +y_list = [] +for b in range(div_nr): + x_list.append(x_vt) +for c in range(div_nr): + y_list.append(y_vt) + +a = [] +for i in divide_curve: + frame = Frame(i, x_vt, y_vt) + a.append(frame) + +frame = [] +for j in a: + fr = draw_frame(j) + frame.append(fr) + GhPython provides a Python script component + + 1317 + 256 + + + 1110 + 1094 + + true + true + 062798e6-32ef-4c9b-8170-1a7e38c2d811 + false + true + GhPython Script + Python + + + + + + 478 + 414 + 84 + 28 + + + 507 + 428 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 841d7cb5-5166-4ee0-8504-00a203fd514d + x + x + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 480 + 416 + 12 + 24 + + + 487.5 + 428 + + + + + + + + Script output frame. + d271c9d0-0319-41bf-a54f-4aed4359cc92 + frame + frame + false + 0 + + + + + + 522 + 416 + 38 + 24 + + + 541 + 428 + + + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + a76fc82a-d2bf-4ca0-bcac-fd9556ee6e17 + Panel + + false + 0 + d271c9d0-0319-41bf-a54f-4aed4359cc92 + 1 + Double click to edit panel content… + + + + + + 572 + 530 + 146 + 114 + + 0 + 0 + 0 + + 572.7973 + 530.996 + + + + + + + 255;255;250;90 + + true + true + true + false + false + true + + + + + Courier New + 4 + + + + + + + + + + + 1ba79e0a-3216-4898-a8c3-c6ba069e653d + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Robot Visualize + + + + + Visualizes the robot. + true + 3819b7b8-2f14-4349-a3cb-d3ef9e70893e + Robot Visualize + Robot Visualize + + + + + + 999 + 213 + 261 + 204 + + + 1150 + 315 + + + + + + The robot. + 3378c7c1-2afe-4521-8bb0-2645ca1e01e7 + robot + robot + true + 3ed86f74-1de1-4921-9f0a-88c71b4fe431 + 1 + + + + + + 1001 + 215 + 134 + 20 + + + 1069.5 + 225 + + + + + + + + The planning group used for end-effector and base visualization. + 58b61166-6748-4d2b-899a-41ef61dc72d4 + group + group + true + 0 + + + + + + 1001 + 235 + 134 + 20 + + + 1069.5 + 245 + + + + + + + + The robot's full configuration. + aeaaa935-7b63-4237-a774-6b484c223117 + configuration + configuration + true + 6c5c47d3-b49d-4dbf-a287-2305b02558e7 + 1 + + + + + + 1001 + 255 + 134 + 20 + + + 1069.5 + 265 + + + + + + + + 1 + A list of attached collision meshes. + ecf979bc-cdb5-4ff7-9bc8-b1630e80d9c0 + attached_collision_meshes + attached_collision_meshes + true + 0 + + + + + + 1001 + 275 + 134 + 20 + + + 1069.5 + 285 + + + + + + + + Whether or not to show the robot's visual meshes. + 65e64b7a-59ea-4c24-8ac9-8403cfcb1ebc + show_visual + show_visual + true + 0 + + + + + + 1001 + 295 + 134 + 20 + + + 1069.5 + 305 + + + + + + + + Whether or not to show the robot's collision meshes. + e6efc63d-5ead-473a-96ca-ebe152386518 + show_collision + show_collision + true + 3908b6f5-9360-4ece-8737-2bca54192872 + 1 + + + + + + 1001 + 315 + 134 + 20 + + + 1069.5 + 325 + + + + + + + + Whether or not to show the robot's joint frames. + 54987571-db0c-4ea9-92fe-b55dd47a99e3 + show_frames + show_frames + true + 0 + + + + + + 1001 + 335 + 134 + 20 + + + 1069.5 + 345 + + + + + + + + Whether or not to show the robot's base frame. + 92ab435d-f72d-4d25-a8d4-9e12ec0db7d0 + show_base_frame + show_base_frame + true + 0 + + + + + + 1001 + 355 + 134 + 20 + + + 1069.5 + 365 + + + + + + + + Whether or not to show the robot's end-effector frame. + 8d8ec46e-cb29-4e49-8e65-158d66177f2d + show_end_effector_frame + show_end_effector_frame + true + 0 + + + + + + 1001 + 375 + 134 + 20 + + + 1069.5 + 385 + + + + + + + + Whether or not to show the attached collision meshes (if any). + fc767bea-dfa5-43ee-ab2a-0c73f5850458 + show_acm + show_acm + true + 0 + + + + + + 1001 + 395 + 134 + 20 + + + 1069.5 + 405 + + + + + + + + The robot's visual meshes. + 08436992-2b3d-42ea-a9e3-1aa7926f1718 + visual + visual + true + 0 + + + + + + 1165 + 215 + 93 + 33 + + + 1211.5 + 231.6667 + + + + + + + + The robot's collision meshes. + 84cba948-95a0-42e4-a9c8-d2a7ce186b4a + collision + collision + true + 0 + + + + + + 1165 + 248 + 93 + 33 + + + 1211.5 + 265 + + + + + + + + The robot's attached meshes. + 0e8c1c83-bc75-427c-b84f-8dc14e3bd9ad + attached_meshes + attached_meshes + true + 0 + + + + + + 1165 + 281 + 93 + 34 + + + 1211.5 + 298.3333 + + + + + + + + The robot's joint frames. + 52697339-d330-4b25-8745-0c77c4b2b19d + frames + frames + true + 0 + + + + + + 1165 + 315 + 93 + 33 + + + 1211.5 + 331.6667 + + + + + + + + The robot's base frame. + 8f0366f6-67bd-4e1f-a302-fc506927fa6f + base_frame + base_frame + true + 0 + + + + + + 1165 + 348 + 93 + 33 + + + 1211.5 + 365 + + + + + + + + The robot's end-effector frame. + 2ef3bb2f-afeb-4d40-a394-0b915f268044 + ee_frame + ee_frame + true + 0 + + + + + + 1165 + 381 + 93 + 34 + + + 1211.5 + 398.3333 + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 3908b6f5-9360-4ece-8737-2bca54192872 + Boolean Toggle + Toggle + false + 0 + true + + + + + + 848 + 309 + 104 + 22 + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + true + 963df012-1db3-465a-8547-70316f406d0a + Mesh + Mesh + false + 84cba948-95a0-42e4-a9c8-d2a7ce186b4a + 1 + + + + + + 1282 + 252 + 50 + 24 + + + 1307.3 + 264.975 + + + + + + + + + + 537b0419-bbc2-4ff4-bf08-afe526367b2c + Custom Preview + + + + + Allows for customized geometry previews + true + 88a91dc2-6180-4508-912e-07af52b44e7d + Custom Preview + Preview + + + + + + + 1534 + 252 + 48 + 44 + + + 1568 + 274 + + + + + + Geometry to preview + true + 6287d550-cbec-4484-8b1d-f313fb521d22 + Geometry + G + false + 963df012-1db3-465a-8547-70316f406d0a + 1 + + + + + + 1536 + 254 + 17 + 20 + + + 1546 + 264 + + + + + + + + The material override + 00091fea-d590-453d-b19a-cd6cba90c998 + Material + M + false + 773584a4-6f68-4fde-8ab4-56be9f46ca35 + 1 + + + + + + 1536 + 274 + 17 + 20 + + + 1546 + 284 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;221;160;221 + + + 255;66;48;66 + + 0.5 + + 255;255;255;255 + + 0 + + + + + + + + + + + + + + + 76975309-75a6-446a-afed-f8653720a9f2 + Create Material + + + + + Create an OpenGL material. + 9f664d91-2766-4ae3-8d19-1fd9a2f520c0 + Create Material + Material + + + + + + 1436 + 273 + 74 + 104 + + + 1473 + 325 + + + + + + Colour of the diffuse channel + d091dae3-8943-4521-b535-cf3419585038 + Diffuse + Kd + false + 0 + + + + + + 1438 + 275 + 20 + 20 + + + 1449.5 + 285 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;164;252;232 + + + + + + + + + + + + Colour of the specular highlight + a0d12527-de28-40fc-b707-2622e98cd842 + Specular + Ks + false + 0 + + + + + + 1438 + 295 + 20 + 20 + + + 1449.5 + 305 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;255;255;255 + + + + + + + + + + + + Emissive colour of the material + c53d1c4a-37a4-43ff-a996-5bc65c2156fa + Emission + Ke + false + 0 + + + + + + 1438 + 315 + 20 + 20 + + + 1449.5 + 325 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;0;0;0 + + + + + + + + + + + + Amount of transparency (0.0 = opaque, 1.0 = transparent + 5bd973c1-b169-4a28-9190-7873f5b5652f + Transparency + T + false + 0 + + + + + + 1438 + 335 + 20 + 20 + + + 1449.5 + 345 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + Amount of shinyness (0 = none, 1 = low shine, 100 = max shine + 714ca62e-6037-4042-9da9-45df70733fcc + Shine + S + false + 0 + + + + + + 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zD8/PeZ7c/wo0tTkU1O30/kSReNuDE3ttv3Vpp2VtTtuTR5rbN7dZz8w3H+ooGxrccW22Ymj5jbfrs69kyNHTA27sH9nx96RgUO3pvYVF/6RXB3duBAJ1xRKQkPe+dkJ36bm3Z3teyBhWdX2tjZfLHu690KtwrKtuYVvtbQ65TSbfbs69mYbNxtLtjQ27UZLQ+Nua88+7FxevR07O1+imNxbZPyYSLhxIRKuKc7haCskPDM351NY/vNq05a+Xl9z+47x4X2OXp/ZiQODfb5dXbvsvT63Jg/22nzGhvZODO+z9Oy2WXdja5/dd6Bvz8z4AavF2dLn8J0e2z93y6e44IP6eiLhRoVIuPb05WQHV5fvr654p7byF2npB9S6Pfl5h1PS9leXv5OVfVASv1uVsKe46KhGt9eQf7io8KhM6aPQ+BYXHk1M3peWcaCy7O04jW+8dg9+pbT4WF31wayML81m52dnuO+BsKEgEq41PT0YkXZUVJiqquqQ6uq62pr66qq6mpr6ykr8WF9bW4+WikpnC9qxD35EsLWmuh7xtFDr5RWm5uY2UgY3LkRCGuju7rFYbBaL9eHEaiMGbmiIhAQCzRAJCQSaIRISCDRDJCQQaIZISCDQDJGQQKAZIiGBQDNEQgKBZoiEBALNEAkJBJohEhIINEMkJBBohkhIINAMkZBAoBkiIYFAM0RCAoFmiIQEAs0QCQkEmiESEgg0QyQkEGiGSEgg0AyRkECgGSIhgUAzREICgWaIhAQCzRAJCQSaIRISCDRDJCQQaIZISCDQDJGQQKAZIiGBQDNEQgKBZoiEBALNEAkJBJohEhIINEMkJBBohkhIINAMkZBAoBkiIYFAM0RCAoFmiIQEAs0QCQkEmiESEgg0QyQkEGiGSEgg0AyRkECgGSIhgUAzREICgWaIhAQCzRAJCQSaIRISCDRDJCQQaIZISCDQDJGQQKAZIiGBQDNEQgKBZoiEBALNEAkJBJq5Q0ICgUALbgkJBAJtPPbY/wcEP9vGioxcoQAAAABJRU5ErkJggg== + + + + + \ No newline at end of file diff --git a/lecture_04/assignment_03/README.md b/lecture_04/assignment_03/README.md new file mode 100644 index 0000000..a1a7db4 --- /dev/null +++ b/lecture_04/assignment_03/README.md @@ -0,0 +1,111 @@ +# Assignment 03 + +Using inverse kinematics + +* Setup the MoveIt container for a UR5 on your laptop +* Use the RosClient to load the robot +* Take as input a list of brick positions as list of frames and use inverse_kinematics function to calculate viable configurations for each frame +* Store the results in a JSON file and commit the file in your submission + +## How to start + +Use the following code as a starting point for your assignment: + +```python +"""Assignment 03: Using inverse kinematics +""" +import json +from compas_fab.backends import RosClient +from compas_fab.robots import Configuration + +from compas.geometry import Frame +from compas.geometry import Point +from compas.geometry import Vector + + +# This function defines the inputs of your assignment, you get a compas_fab.robots.Robot and a Frame +# and are expected to return ONE valid configuration to reach that frame +def calculate_ik(robot, frame): + # start_configuration = ... # 1. define a valid start configuration for your frames + # configuration = ... # 2. use inverse kinematics to find out a valid configuration + return configuration + +def store_configurations(configurations): + # 3. store all found configurations in a JSON file + pass + +# Use the following to test from the command line +# Or copy solution_viewer.ghx next to the folder where you created assignment_03.py to visualize the same in Grasshopper +if __name__ == '__main__': + frame_list = [ + Frame(Point(0.084, 0.319, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.152, 0.317, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.220, 0.315, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.288, 0.313, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.357, 0.310, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.425, 0.308, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.493, 0.306, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.561, 0.303, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.629, 0.301, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.698, 0.299, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)), + Frame(Point(0.766, 0.297, 0.175), Vector(0.000, 0.000, -1.000), Vector(0.000, 1.000, 0.000)) + ] + + # Loads the robot from ROS + with RosClient('localhost') as client: + robot = client.load_robot() + + # And call our assignment functions for each frame in the example + configurations = [] + for frame in frame_list: + configuration = calculate_ik(robot, frame) + configurations.append(configuration) + print("Found configuration", configuration) + + store_configurations(configurations) + +``` + +## Expected result + +![The result](robot_ik.png) + +## How to submit your assignment + +1. You should have forked this repository last week, if not, check [assignment submission instructions in lecture 02](../../lecture_02/assignment_01#how-to-submit-your-assignment). +2. Make sure your local clone is up to date + + (compas-fs2021) git checkout main + (compas-fs2021) git pull origin + +3. Use a branch called `assignment-03` for this week's assignment + + (compas-fs2021) git checkout -b assignment-03 + (compas-fs2021) git push -u assignments assignment-03 + +4. Create a folder with your name and last name, eg. `elvis_presley` (make sure it is inside the current assignment folder) +5. Create a Python file named `assignment_03.py` and paste the starting point code. +6. For visual inspection, copy the file `solution_viewer.ghx` in the same folder of your `assignment_03.py`. +6. Solve the coding assignment and commit +
(How do I commit?) +

+ + Usually, commits are done from a visual client or VS code, + but you can also commit your changes from the command line: + + (compas-fs2021) git add lecture_04/assignment_03/elvis_presley/\* && git commit -m "hello world" + + +

+
+ +8. Once you're ready to submit, push the changes: + + (compas-fs2021) git push assignments + +9. And create a pull request ([What's a pull request?](https://docs.github.com/en/github/collaborating-with-issues-and-pull-requests/about-pull-requests)) + + 1. Open your browser and go to your fork + 2. 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0000000..b59d8ff --- /dev/null +++ b/lecture_04/assignment_03/solution_viewer.ghx @@ -0,0 +1,1599 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + 267186b6-22d4-4301-830e-efc68b78e363 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 637515172939181553 + + assignment_03.ghx + + + + + 0 + + + + + + -43 + 54 + + 0.85 + + + + + 0 + + + + + + + 0 + + + + + 1 + + + + + Bengesht, Version=3.3.0.0, Culture=neutral, PublicKeyToken=null + 3.3.0.0 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + 11 + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + c7d255bb-e9cf-4deb-b4de-248fedfcc9fd + Boolean Toggle + Connect + false + 0 + false + + + + + + 10 + 183 + 110 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 1e891ee1-8c8e-4909-bfa8-9478fe5871e0 + Boolean Toggle + Load + false + 0 + false + + + + + + 25 + 232 + 94 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import Grasshopper +import System +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 SetUpParam(self, p, name, nickname, description): + p.Name = name + p.NickName = nickname + p.Description = description + p.Optional = True + + def RegisterInputParams(self, pManager): + + p = Grasshopper.Kernel.Parameters.Param_String() + self.SetUpParam(p, "ip", "ip", "The ip address of ROS master. Defaults to 127.0.0.1") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Integer() + self.SetUpParam(p, "port", "port", "The port of ROS master. Defaults to 9090.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Boolean() + self.SetUpParam(p, "connect", "connect", "If `True`, connect to ROS. If `False`, disconnect from ROS. Defaults to False.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + def RegisterOutputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.") + self.Params.Output.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Boolean() + self.SetUpParam(p, "is_connected", "is_connected", "`True` if connection established.") + self.Params.Output.Add(p) + + def SolveInstance(self, DA): + p0 = self.marshal.GetInput(DA, 0) + p1 = self.marshal.GetInput(DA, 1) + p2 = self.marshal.GetInput(DA, 2) + result = self.RunScript(p0, p1, p2) + + if result is not None: + if not hasattr(result, '__getitem__'): + self.marshal.SetOutput(result, DA, 0, True) + else: + self.marshal.SetOutput(result[0], DA, 0, True) + self.marshal.SetOutput(result[1], DA, 1, True) + + 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) + + GhPython provides a Python script component + + 229 + 390 + + + 684 + 571 + + true + true + 1 + false + 16792f65-ce66-4c57-8894-6616e5c283b2 + true + true + GhPython Script + ROS Connect + + + + + + 190 + 180 + 153 + 98 + + + 253 + 229 + + + + + + 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 + bc487b96-bbd1-45ff-a269-709492ef66e4 + ip + ip + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 192 + 182 + 46 + 31 + + + 216.5 + 197.6667 + + + + + + + + true + Script input port. + 8dafae00-13b3-4180-96aa-a0883d701b13 + port + port + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 192 + 213 + 46 + 31 + + + 216.5 + 229 + + + + + + + + true + Script input connect. + 240bb7a7-af6c-4d1f-93e0-151a5caf22d7 + connect + connect + true + 0 + true + c7d255bb-e9cf-4deb-b4de-248fedfcc9fd + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + + + + + + 192 + 244 + 46 + 32 + + + 216.5 + 260.3333 + + + + + + + + Script output ros_client. + c7b9e319-1fa7-42fd-a6f8-74960f4607b1 + ros_client + ros_client + false + 0 + + + + + + 268 + 182 + 73 + 47 + + + 304.5 + 205.5 + + + + + + + + Script output is_connected. + c6056edc-9888-40d0-aa77-cd5f2feb3fca + is_connected + is_connected + false + 0 + + + + + + 268 + 229 + 73 + 47 + + + 304.5 + 252.5 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import Grasshopper +import System +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +import compas +from compas_fab.ghpython.components import create_id +from compas_fab.ghpython.components.icons import ros_robot_icon +from compas_ghpython.artists import RobotModelArtist + + +class ROSRobot(component): + def SetUpParam(self, p, name, nickname, description): + p.Name = name + p.NickName = nickname + p.Description = description + p.Optional = True + + def RegisterInputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_Boolean() + self.SetUpParam(p, "load", "load", "If `True`, loads the robot from ROS. Defaults to False.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + def RegisterOutputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "robot", "robot", "The robot.") + self.Params.Output.Add(p) + + def SolveInstance(self, DA): + p0 = self.marshal.GetInput(DA, 0) + p1 = self.marshal.GetInput(DA, 1) + result = self.RunScript(p0, p1) + + if result is not None: + self.marshal.SetOutput(result, DA, 0, True) + + def get_Internal_Icon_24x24(self): + return ros_robot_icon + + def RunScript(self, ros_client, load): + self.Message = "Loading..." + compas.PRECISION = '12f' + + key = create_id(self, 'robot') + + if ros_client and ros_client.is_connected and load: + # Load URDF from ROS + robot = ros_client.load_robot(load_geometry=True) + robot.artist = RobotModelArtist(robot.model) + self.Message = "{} loaded".format(robot.name) + st[key] = robot + else: + if st.get(key): + self.Message = "{} loaded".format(st.get(key).name) + else: + self.Message = "No robot" + + robot = st.get(key, None) + if robot: # client sometimes need to be restarted, without needing to reload geometry + robot.client = ros_client + return robot + + GhPython provides a Python script component + + 234 + 234 + + + 558 + 571 + + true + true + 1 + false + 84446ac2-e8f7-4c7d-9d31-dab3deade42d + true + true + GhPython Script + Load robot + + + + + + 379 + 181 + 124 + 85 + + + 449 + 224 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 257eb709-9e93-49a7-a6aa-2732f7b895ff + ros_client + ros_client + true + 0 + true + c7b9e319-1fa7-42fd-a6f8-74960f4607b1 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 381 + 183 + 53 + 40 + + + 409 + 203.25 + + + + + + + + true + Script input load. + 95e3d164-949e-4dee-9eb6-29af6bb30c8c + load + load + true + 0 + true + 1e891ee1-8c8e-4909-bfa8-9478fe5871e0 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 381 + 223 + 53 + 41 + + + 409 + 243.75 + + + + + + + + Script output robot. + 3ed86f74-1de1-4921-9f0a-88c71b4fe431 + robot + robot + false + 0 + + + + + + 464 + 183 + 37 + 81 + + + 482.5 + 223.5 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 16792f65-ce66-4c57-8894-6616e5c283b2 + c7d255bb-e9cf-4deb-b4de-248fedfcc9fd + 1e891ee1-8c8e-4909-bfa8-9478fe5871e0 + 84446ac2-e8f7-4c7d-9d31-dab3deade42d + 4 + ca5efeaf-96ea-4f51-8b8c-044bf95f301c + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import Grasshopper +import System +from ghpythonlib.componentbase import executingcomponent as component + +from compas.geometry import Frame +from compas.geometry import Transformation +from compas_ghpython.artists import MeshArtist +from compas_fab.ghpython.components.icons import robot_visualize_icon +from compas_ghpython import draw_frame + +class RobotVisualize(component): + def SetUpParam(self, p, name, nickname, description): + p.Name = name + p.NickName = nickname + p.Description = description + p.Optional = True + + def RegisterInputParams(self, pManager): + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "robot", "robot", "The robot.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_String() + self.SetUpParam(p, "group", "group", "The planning group used for end-effector and base visualization.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "configuration", "configuration", "The robot's full configuration.") + p.Access = Grasshopper.Kernel.GH_ParamAccess.item + self.Params.Input.Add(p) + + def RegisterOutputParams(self, pManager): + + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "visual", "visual", "The robot's visual meshes.") + self.Params.Output.Add(p) + + p = Grasshopper.Kernel.Parameters.Param_GenericObject() + self.SetUpParam(p, "frames", "frames", "The robot's joint frames.") + self.Params.Output.Add(p) + + def SolveInstance(self, DA): + p0 = self.marshal.GetInput(DA, 0) + p1 = self.marshal.GetInput(DA, 1) + p2 = self.marshal.GetInput(DA, 2) + result = self.RunScript(p0, p1, p2) + + if result is not None: + if not hasattr(result, '__getitem__'): + self.marshal.SetOutput(result, DA, 0, True) + else: + self.marshal.SetOutput(result[0], DA, 0, True) + self.marshal.SetOutput(result[1], DA, 1, True) + + def get_Internal_Icon_24x24(self): + return robot_visualize_icon + + def RunScript(self, robot, group, configuration): + + visual = None + frames = None + + if robot: + configuration = configuration or robot.zero_configuration() + + robot.update(configuration, visual=True, collision=False) + frames = [draw_frame(f) for f in robot.transformed_frames(configuration, group)] + + visual = robot.artist.draw_visual() + + return (visual, frames) + + GhPython provides a Python script component + + 26 + 26 + + + 821 + 880 + + true + true + 1 + false + d92ba719-b0a5-4de7-b6cf-05e055d719c8 + true + true + GhPython Script + Visualize + + + + + + 853 + 210 + 149 + 71 + + + 942 + 246 + + + + + + 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 + 75daab22-274f-4680-935a-d2ce741fbfb8 + robot + robot + true + 0 + true + 3ed86f74-1de1-4921-9f0a-88c71b4fe431 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 855 + 212 + 72 + 22 + + + 892.5 + 223.1667 + + + + + + + + true + Script input group. + ab62d43f-55e4-40bc-b35d-5058612cf67d + group + group + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 855 + 234 + 72 + 22 + + + 892.5 + 245.5 + + + + + + + + true + Script input configuration. + ab3c6284-a593-4306-93fc-a41fafd11939 + configuration + configuration + true + 0 + true + 6c5c47d3-b49d-4dbf-a287-2305b02558e7 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 855 + 256 + 72 + 23 + + + 892.5 + 267.8333 + + + + + + + + Script output visual. + 3c3e87e3-e762-403e-b46d-656bc19b634a + visual + visual + false + 0 + + + + + + 957 + 212 + 43 + 33 + + + 978.5 + 228.75 + + + + + + + + Script output frames. + 0db55873-ae6a-4aa8-a4d8-88d7a8ed7872 + a + frames + false + 0 + + + + + + 957 + 245 + 43 + 34 + + + 978.5 + 262.25 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas_ghpython import unload_modules +unload_modules('assignment_03') + +from compas_rhino.geometry import RhinoPlane + +from assignment_03 import calculate_ik + +frame = RhinoPlane.from_geometry(frame).to_compas() +configuration = calculate_ik(robot, frame) + + GhPython provides a Python script component + + 1215 + 439 + + + 554 + 571 + + true + true + false + 205c786a-b8cf-4a07-8455-eea7b91954d2 + false + true + GhPython Script + Python + + + + + + 598 + 392 + 144 + 44 + + + 650 + 414 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + ba3333a4-a4af-41c9-9db8-4a84ea6a37df + robot + robot + true + 0 + true + 3ed86f74-1de1-4921-9f0a-88c71b4fe431 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 600 + 394 + 35 + 20 + + + 619 + 404 + + + + + + + + true + Script input frame. + c640367c-4d94-4702-8a36-9b422631f663 + x + frame + true + 0 + true + 716141ca-3bd8-4b27-8dca-290a69e4a2eb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 600 + 414 + 35 + 20 + + + 619 + 424 + + + + + + + + Script output configuration. + 66f1bdea-7701-4476-b28d-6ea50cb1a15e + frame_WCF + configuration + false + 0 + + + + + + 665 + 394 + 75 + 40 + + + 702.5 + 414 + + + + + + + + + + + + + + 59daf374-bc21-4a5e-8282-5504fb7ae9ae + List Item + + + + + 0 + Retrieve a specific item from a list. + 7198f137-5adf-40bd-9365-ce004651bcdf + List Item + Item + + + + + + 787 + 402 + 64 + 64 + + + 821 + 434 + + + + + + 3 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 2e3ab970-8545-46bb-836c-1c11e5610bce + cb95db89-6165-43b6-9c41-5702bc5bf137 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + Base list + a71a26e2-bc83-4c3a-bb49-8f2a379f82e6 + List + L + false + 66f1bdea-7701-4476-b28d-6ea50cb1a15e + 1 + + + + + + 789 + 404 + 17 + 20 + + + 799 + 414 + + + + + + + + Item index + 7da95829-d7e8-4d73-b01e-2a3b037c616a + Index + i + false + 9c88f1df-80d2-4fc0-a569-528fab1a8314 + 1 + + + + + + 789 + 424 + 17 + 20 + + + 799 + 434 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + Wrap index to list bounds + 5349e571-6e69-4fef-be96-8ba696ebf207 + Wrap + W + false + 0 + + + + + + 789 + 444 + 17 + 20 + + + 799 + 454 + + + + + + 1 + + + + + 1 + {0} + + + + + true + + + + + + + + + + + Item at {i'} + 6c5c47d3-b49d-4dbf-a287-2305b02558e7 + false + Item + i + false + 0 + + + + + + 836 + 404 + 13 + 60 + + + 842.5 + 434 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 9c88f1df-80d2-4fc0-a569-528fab1a8314 + Number Slider + + false + 0 + + + + + + 599 + 462 + 160 + 20 + + + 599.5098 + 462.9063 + + + + + + 3 + 1 + 1 + 10 + 0 + 0 + 0 + + + + + + + + + 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 + Plane + + + + + Contains a collection of three-dimensional axis-systems + 716141ca-3bd8-4b27-8dca-290a69e4a2eb + Plane + Pln + false + 0 + + + + + + 491 + 413 + 50 + 24 + + + 516.4706 + 425.0588 + + + + + + 1 + + + + + 11 + {0;0} + + + + + + 0.0836215563228836 + 0.319381377152021 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.151848039491211 + 0.317108510432918 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.220074522659539 + 0.314835643713816 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.288301005827867 + 0.312562776994713 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.356527488996194 + 0.31028991027561 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.424753972164522 + 0.308017043556507 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.49298045533285 + 0.305744176837404 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.561206938501178 + 0.303471310118301 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.629433421669505 + 0.301198443399198 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.697659904837833 + 0.298925576680095 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + 0.765886388006161 + 0.296652709960992 + 0.175284099755195 + 0 + 0 + -1 + 0 + 1 + 0 + + + + + + + + + + + + + + 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+ + + + + \ No newline at end of file From 646d4d8fc134b70d0f2ac129cd8b676f6f5ea284 Mon Sep 17 00:00:00 2001 From: cheibasethz <67361206+cheibasethz@users.noreply.github.com> Date: Mon, 19 Apr 2021 12:05:28 +0200 Subject: [PATCH 2/3] json_updated --- .../Ina Cheibas/assignment_04.gh | Bin 0 -> 61614 bytes .../Ina Cheibas/assignment_04.json | 50 ++++++++++++++++++ .../assignment_04/Ina Cheibas/brick_wall.JPG | Bin 0 -> 120497 bytes .../Ina Cheibas/vacuum_gripper.stl | Bin 0 -> 9884 bytes 4 files changed, 50 insertions(+) create mode 100644 lecture_05/assignment_04/Ina Cheibas/assignment_04.gh create mode 100644 lecture_05/assignment_04/Ina Cheibas/assignment_04.json create mode 100644 lecture_05/assignment_04/Ina Cheibas/brick_wall.JPG create mode 100644 lecture_05/assignment_04/Ina Cheibas/vacuum_gripper.stl 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 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Cheibas/assignment_04.json | 28 +- .../assignment_05/Ina Cheibas/assembly.py | 81 + .../Ina Cheibas/assignment_05.gh | Bin 0 -> 64697 bytes .../Ina Cheibas/assignment_05.json | 157902 +++++++++++++++ .../assignment_05_simple_curve.json | 13065 ++ .../assignment_05/Ina Cheibas/brick_wall.JPG | Bin 0 -> 111403 bytes .../assignment_05/Ina Cheibas/helpers.py | 22 + .../Ina Cheibas/simple_curve.JPG | Bin 0 -> 141510 bytes .../Ina Cheibas/vacuum_gripper.stl | Bin 0 -> 9884 bytes 10 files changed, 171084 insertions(+), 14 deletions(-) create mode 100644 lecture_06/assignment_05/Ina Cheibas/assembly.py create mode 100644 lecture_06/assignment_05/Ina Cheibas/assignment_05.gh create mode 100644 lecture_06/assignment_05/Ina Cheibas/assignment_05.json create mode 100644 lecture_06/assignment_05/Ina Cheibas/assignment_05_simple_curve.json create mode 100644 lecture_06/assignment_05/Ina Cheibas/brick_wall.JPG create mode 100644 lecture_06/assignment_05/Ina Cheibas/helpers.py create mode 100644 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