diff --git a/lecture_04/assignment_03/assignment_03.ghx b/lecture_04/assignment_03/assignment_03.ghx new file mode 100644 index 0000000..8235b15 --- /dev/null +++ b/lecture_04/assignment_03/assignment_03.ghx @@ -0,0 +1,6005 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + c4f913db-409d-41a9-88e1-f6f90989047d + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 637527254194888879 + + assignment_03.ghx + + + + + 0 + + + + + + 342 + -142 + + 0.85 + + + + + 0 + + + + + + + 0 + + + + + 2 + + + + + GhPython, Version=7.28.23058.3001, Culture=neutral, PublicKeyToken=null + 7.28.23058.3001 + + 00000000-0000-0000-0000-000000000000 + + + + + + + Pufferfish, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null + 3.0.0.0 + Michael Pryor + 1c9de8a1-315f-4c56-af06-8f69fee80a7a + Pufferfish + 3.0.0.0 + + + + + + + 58 + + + + + 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 + + + + + + + + + + + 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 + 4e66fe1b-29b3-4955-9524-ca986decd9ac + 78471367-17af-4599-8661-808ba87f82a6 + bfa816f1-e4c0-482e-9515-4b540fd2f427 + 82091d9c-f1c0-4207-8d3d-b1dca673d5df + 5d051c72-528a-498d-a91b-f91e344562b4 + baea3a7f-42ad-4480-b62c-39cd2f8c2e8a + 18 + 8b8d6fbf-db19-4267-9188-c4fdd76620b6 + Group + + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + 4e66fe1b-29b3-4955-9524-ca986decd9ac + Data + Robot + false + 846547a4-0964-4bea-b2e5-d3fd03e0ff69 + 1 + + + + + + 1254 + 168 + 50 + 24 + + + 1279.353 + 180.9772 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 46.70692 + 119.7138 + + + 272.0458 + 119.7138 + + + 272.0458 + 139.8124 + + + 46.70692 + 139.8124 + + A quick note + Cambria + 82091d9c-f1c0-4207-8d3d-b1dca673d5df + false + Scribble + Scribble + 22 + 1) Load robot from ROS + + + + + + 41.70692 + 114.7138 + 235.3389 + 30.09864 + + + 46.70692 + 119.7138 + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + aacb02be-ffde-4997-b910-3a5670a6e5b1 + Data + Target planes + false + 44d4a187-3a93-413f-992e-d4cc7e2e19ad + 1 + + + + + + 1240 + 476 + 50 + 24 + + + 1265.041 + 488.8133 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;240;218;146 + + A group of Grasshopper objects + 0c3c0677-cbf3-46be-b539-e48399697bc7 + de6b7a53-8f17-48cc-bb14-1aedc473dd1c + 04770360-9eb5-44e4-911f-142deec44bdc + aacb02be-ffde-4997-b910-3a5670a6e5b1 + 50ee1702-2c6a-4092-b68b-7fd9ec30c129 + 9dbe68e7-ae2d-4df4-89a9-ae0ec5759854 + d17c9d6f-7bf6-411c-816c-4c1caad151b9 + 37fef6aa-0c60-4da4-9d31-1ae0bdd95cd2 + d6cabb95-93fe-48fe-9b1b-2070fdd10e56 + 3974a64b-9fea-4aa6-a9ad-21315ef8260a + b171143f-e5e1-4bc8-92f7-eb329037f691 + 11 + cf91e427-c398-45be-b915-f55275cc67b7 + Group + + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + d385349b-7e03-4362-b9d0-eacd34e2562b + Data + Pickup plane + false + 3a86f18b-7506-4d48-8a5c-6048a1108886 + 1 + + + + + + 1242 + 320 + 50 + 24 + + + 1267.779 + 332.6416 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;240;218;146 + + A group of Grasshopper objects + d385349b-7e03-4362-b9d0-eacd34e2562b + 66c3b06d-1415-476b-875b-53498de1860a + c9e84bc7-5f07-46ef-9e42-32f7d85d0c13 + 39a429c7-2480-4ff8-8f4c-5bd8a47369a7 + 224add91-1cc7-47af-8c77-af2d42147144 + ff0bbdd7-eb5b-4ed6-a652-505db2c0ac8c + 13d747bd-3e05-4a41-8ea0-75bad3d5248b + dd675efd-9233-4ad4-bb47-4b8f4932cc90 + 68575641-3532-400d-95f0-a0242e51e625 + eb5acce9-f665-4261-a8bc-ffd4947a64da + 0bd900d0-2016-4c53-af3b-1c52cf194064 + 11 + 3c032157-3bf9-40ee-9b12-e4e807d15ccc + Group + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 46.70692 + 281.4785 + + + 269.3387 + 281.4785 + + + 269.3387 + 301.5771 + + + 46.70692 + 301.5771 + + A quick note + Cambria + ff0bbdd7-eb5b-4ed6-a652-505db2c0ac8c + false + Scribble + Scribble + 22 + 2) Define pick-up plane + + + + + + 41.70692 + 276.4785 + 232.6318 + 30.09863 + + + 46.70692 + 281.4785 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 46.70692 + 431.5476 + + + 263.9891 + 431.5476 + + + 263.9891 + 451.7751 + + + 46.70692 + 451.7751 + + A quick note + Cambria + 9dbe68e7-ae2d-4df4-89a9-ae0ec5759854 + false + Scribble + Scribble + 22 + 3) Define target planes + + + + + + 41.70692 + 426.5476 + 227.2822 + 30.22754 + + + 46.70692 + 431.5476 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Robot Visualize + + + + + """ +Visualizes the robot. + +COMPAS FAB v0.27.0 +""" +from compas.artists import Artist +from compas.geometry import Frame +from compas.geometry import Transformation +from compas_fab.robots import PlanningScene +from ghpythonlib.componentbase import executingcomponent as component + + +class RobotVisualize(component): + def RunScript( + self, + robot, + group, + configuration, + show_visual, + show_collision, + show_frames, + show_base_frame, + show_end_effector_frame, + show_cm, + show_acm, + ): + + visual = None + collision = None + collision_meshes = 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 + show_cm = True if show_cm is None else show_cm + show_acm = True if show_acm is None else show_acm + 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 = Artist(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 = Artist(ee_compas_frame) + ee_frame = artist.draw() + + if show_frames: + frames = [] + for compas_frame in compas_frames[1:]: + artist = Artist(compas_frame) + frame = artist.draw() + frames.append(frame) + + if show_cm or show_acm: + scene = PlanningScene(robot) + scene = robot.client.get_planning_scene() + + collision_meshes = [] + attached_meshes = [] + + if show_cm: + 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(Artist(mesh).draw()) + + if show_acm: + 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_meshes.append(Artist(mesh).draw()) + + return ( + visual, + collision, + collision_meshes, + attached_meshes, + frames, + base_frame, + ee_frame, + ) + + Visualizes the robot. +COMPAS FAB v0.27.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDgAACw4BQL7hQQAAAdhJREFUSEu1lLFKA0EQhlUIQVBMOhGLgGAtxAcIYmmRJpWNrZ2dhSCWqURtxC6VRSofIYWlhS8QyBMEOzvP/zt2jtm9VSLEg+9ud2bnn9nZu1spiuJfyRqXSdb4F3ZvX1vigmfOXzP8FQm/iEJ8iH7qjyZUIUZiIgjseb9HvjMxE4jbE4jt2Lo0CGca0BOI3Ti8nzGFdYTFv9cShAWlUzyK6zC/E9aGHFFbND8Q1c5TBwHPgiQPYU4C2uZFPVEbNa/aA9wqg5wIE2RP6AuSsH2DAzV/2Q49aRPtwzYzTW5VBXKwC+sjIvQ+qiiso52IWSG00B941CKfwA7UDs0qqiUJ61nnD5z10ffALe2hb48x8Ws88lEIhWWLqBnC4jQBRIUsStYosdxbUx6croFgAJcWo6st5sE+ruw28EiMbfs3xbjBnxWKEw8quw1SEEvEgaQtCQydWJv1zjb3OpFoisT8G2KMJNINYlBWq8t2NfQakWCKxH48cAlNg+CT8AmPvUYkCArmq82JRmydnJeCa+sbX42dvfsgPk31ogko2L7kX9m+GpcJYLXR/AzjqD0QTUDBCyWA5v5hlSTQTfWiCSiQX4X91H5l8+jUzgHeUi2oGZZN1rg8ipVvhzuVIxcFIsQAAAAASUVORK5CYII= + + false + 7a58f25a-3dc8-4dfa-bf0f-35404273569e + true + true + Robot Visualize + Robot Visualize + + + + + + 2220 + 498 + 257 + 204 + + + 2367 + 600 + + + + + + 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 + 7 + 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 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + 439bbb30-bb2a-4f39-bfd6-8205cd93fd09 + robot + robot + true + 0 + true + 619d4216-bdfd-4395-b679-83b02e397c53 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2222 + 500 + 130 + 20 + + + 2288.5 + 510 + + + + + + + + true + The planning group used for end-effector and base visualization. + ad36f822-0439-4ba3-b51a-c348f6f591ec + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 2222 + 520 + 130 + 20 + + + 2288.5 + 530 + + + + + + + + true + The robot's full configuration. + 9fb95b19-f673-4906-9998-b63a5811ea88 + configuration + configuration + true + 0 + true + 4ca3f55b-10fb-41c3-9f24-2b4809b96eeb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2222 + 540 + 130 + 20 + + + 2288.5 + 550 + + + + + + + + true + Whether or not to show the robot's visual meshes. + 22d8ace2-7a15-4a22-9430-2f721280765e + show_visual + show_visual + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2222 + 560 + 130 + 20 + + + 2288.5 + 570 + + + + + + + + true + Whether or not to show the robot's collision meshes. + ad827435-eaa9-47db-8456-0f04c22dde3a + show_collision + show_collision + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2222 + 580 + 130 + 20 + + + 2288.5 + 590 + + + + + + + + true + Whether or not to show the robot's joint frames. + 35824dc3-741e-4a85-9d9f-f350f6328850 + show_frames + show_frames + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2222 + 600 + 130 + 20 + + + 2288.5 + 610 + + + + + + + + true + Whether or not to show the robot's base frame. + 5c36de85-2908-4ed4-8bfb-be05a5fc15a0 + show_base_frame + show_base_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2222 + 620 + 130 + 20 + + + 2288.5 + 630 + + + + + + + + true + Whether or not to show the robot's end-effector frame. + 43679585-4dff-44fc-8144-04d51b6597a3 + show_end_effector_frame + show_end_effector_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2222 + 640 + 130 + 20 + + + 2288.5 + 650 + + + + + + + + true + Whether or not to show the collision meshes (if any). + b0245b8b-4b25-480e-8434-34500dd361dd + show_cm + show_cm + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2222 + 660 + 130 + 20 + + + 2288.5 + 670 + + + + + + + + true + Whether or not to show the attached collision meshes (if any). + c258dd5f-afd6-4742-9840-e8ae6df45c59 + show_acm + show_acm + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2222 + 680 + 130 + 20 + + + 2288.5 + 690 + + + + + + + + Rhino meshes of the robot's visual geometry (if any). + b51fd205-41de-4772-b77b-54118aa40c2c + visual + visual + false + 0 + + + + + + 2382 + 500 + 93 + 28 + + + 2428.5 + 514.2857 + + + + + + + + Rhino meshes of the robot's collision geometry (if any). + 3fd4309e-805a-4b2a-8b39-fb39cda51d21 + collision + collision + false + 0 + + + + + + 2382 + 528 + 93 + 29 + + + 2428.5 + 542.8571 + + + + + + + + Rhino meshes of the scene's collision meshes (if any). + ba8f5aaf-7d4f-4021-b0f3-328651e5f766 + collision_meshes + collision_meshes + false + 0 + + + + + + 2382 + 557 + 93 + 28 + + + 2428.5 + 571.4286 + + + + + + + + Rhino meshes of the scene's attached collision meshes (if any). + 00b4652c-1968-4bef-b124-5b86f4dc25bc + attached_meshes + attached_meshes + false + 0 + + + + + + 2382 + 585 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e9d20ac9-0dbc-44cb-9f48-878ae446678f + Data + Trajectory + false + bcf27a28-24e5-4d31-8438-444d7fe511cb + 1 + 2 + + + + + + 1474 + 676 + 50 + 24 + + + 1499.197 + 688.2636 + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + 619d4216-bdfd-4395-b679-83b02e397c53 + Data + Robot + false + 4e66fe1b-29b3-4955-9524-ca986decd9ac + 1 + 2 + + + + + + 1474 + 628 + 50 + 24 + + + 1499.035 + 640.0879 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;240;218;146 + + A group of Grasshopper objects + ba94b074-3f68-4274-8b84-f87aa5c4cb3e + 01b0a494-be40-47b6-bdc4-7c92967b9f38 + 55db7485-e593-4762-a166-64303d976c7a + 97392278-c93e-4240-86e9-5e59dc2eb992 + 4a09e38e-e49b-43a1-809e-f310b5a4c3e2 + 1f8b3c58-8382-468d-8885-a179a0ad05e0 + 538c02c6-6b3b-4712-a784-dda0bc63f847 + c666c109-2ccb-4c50-90cd-00130af76eaa + 13b3eb29-3c6d-41ba-80fe-d6214ebc9674 + 9d4e5cda-5bb7-42fe-acfa-968fa6c6c067 + cd76efff-9d02-4eb1-b6dd-080d6a0e6d4d + bcf27a28-24e5-4d31-8438-444d7fe511cb + d93333c1-6121-4133-94e5-b1cdbd79792d + 8a1cd44e-8393-4da1-ba94-6a53dd4e3f37 + 54d5165c-c7b9-4b61-a3f4-725adfe6cedb + 15 + 4c3c7466-b1c2-4942-9ac0-63cb70a5b6b7 + Group + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + ecc8c71a-07d9-4980-90b1-a3cd2f8081a6 + Panel + + false + 0 + 0 + Define multiple target planes in any way you like, for example, +reference a curve from Rhino, divide it and assign a plane to each point + +Make sure all planes are oriented in a way that makes sense +for the robot to reach it as well. + + + + + + -530 + 485 + 523 + 96 + + 0 + 0 + 0 + + + + + 3 + + 255;255;250;90 + + true + true + true + false + false + true + + + + + Courier New + 8 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + fb166dfc-4abf-4aa5-9ecf-d86922966dfe + Panel + + false + 0 + 0 + Define one pick-up plane in any way you like, +for example, reference a point from Rhino and assign a plane to it. + +Make sure the plane is oriented in a way that makes sense +for the robot to reach it. You can check this by observing the +results of the IK solution for this pickup-plane. + + + + + + -536 + 293 + 529 + 96 + + 0 + 0 + 0 + + -535.2353 + 293.4706 + + + + + + 3 + + 255;255;250;90 + + true + true + true + false + false + true + + + + + Courier New + 8 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + c7cc41e4-23fe-4958-87c2-e75feb10ebac + Panel + + false + 0 + 0 + Load the robot from ROS. + +Make sure ROS/MoveIt is running before you start (ie. "Compose up"). + + + + + + -536 + 124 + 529 + 96 + + 0 + 0 + 0 + + -535.2353 + 124.4706 + + + + + + 3 + + 255;255;250;90 + + true + true + true + false + false + true + + + + + Courier New + 8 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 3f032319-94be-407d-8e0f-7615f6976834 + Panel + + false + 0 + 0 + Use inverse kinematics of the robot to find +a feasible configuration to reach the pickup plane. + +You can use the COMPAS FAB component or +code it in a GHPython component. + + + + + + -530 + 680 + 523 + 96 + + 0 + 0 + 0 + + -529.5882 + 680.8822 + + + + + + 3 + + 255;255;250;90 + + true + true + true + false + false + true + + + + + Courier New + 8 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 1f02a236-cf56-4437-8d21-1243b22a7b8e + Panel + + false + 0 + 0 + With the pickup config and a list of target planes, you are ready to compute the solution trajectory for each plane. + +First create a constraint from the selected plane, then use the plan free-space motion to calculate a trajectory. + + + + + + -530 + 942 + 523 + 96 + + 0 + 0 + 0 + + -529.353 + 942.6469 + + + + + + 3 + + 255;255;250;90 + + true + true + true + false + false + true + + + + + Courier New + 8 + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Connect + + + + + """ +Connect or disconnect to ROS. + +COMPAS FAB v0.27.0 +""" +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 v0.27.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDwAACw8BkvkDpQAAAdZJREFUSEu1lD2O4kAQRrkBcwP2BnADfARuABEhcAMcEEyCQKuVCCEkY27A3ADCyUAimQyHm/V+r9bNNp5iSLwtPWF/9dvdZRohhP+KK9aJK9aJK9aJKzpk4k08W4XYiB/CYquJPJbX6zVMp9PQbrcV0XhIt9sN6/VaIVZoQLyXMGVC8piYXwp5jMfj0Gq1zK/f7yvUVsdLGnkRBV0RlHT2/g2WHH+KonmJI4PD4ZA6HwVFPd9IR1hTzWZTj76Tcjay1Wr1QWIKnE6n0Ov17DnhXeSiWnTJbvHZ7/d3BkNrg3E2m/2OBbiH4XCITkLg+YhNnMVtakRuib0CWgMMYlMUxetutzPH8vwZ00f+HB8auznHe6CxagDdnMt3ztPOkunAWYsiPcF3YYxGo19ZloXtdvtT78d4b9yDVpEmf8Eg8qiJt7gLCi0WC9v2IxjV6Mu9aU3SAh2MYhI1wZaPBMcZfwadl8n5oqX8Sya7OZkhgSJoge1Xu04pE/Ot3E4hTUQBmyDB+d7ZBIU4f4INBmE+n3/meR4ul8tS2pe4+5e/91CURRjH7BuYIIYCX/vf8fgqaKYFHxEvz6CZh8nBFUGLQl7nN7y4Kq5YJ65YJ65YJ65YH6HxB7b14P1B22tpAAAAAElFTkSuQmCC + + false + 5d051c72-528a-498d-a91b-f91e344562b4 + true + true + ROS Connect + ROS + + + + + + 329 + 114 + 153 + 64 + + + 392 + 146 + + + + + + 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. + 9f8ec376-61c8-4a5a-9978-8260b3433971 + ip + ip + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 331 + 116 + 46 + 20 + + + 355.5 + 126 + + + + + + + + true + The port of ROS. Defaults to 9090. + 606cb857-159f-4994-b643-f4573ca19d5f + port + port + true + 0 + true + 0 + 48d01794-d3d8-4aef-990e-127168822244 + + + + + + 331 + 136 + 46 + 20 + + + 355.5 + 146 + + + + + + + + true + If True, connects to ROS. If False, disconnects from ROS. Defaults to False. + f3e97277-64e0-4595-adcd-93143d53f341 + connect + connect + true + 0 + true + f9dd4743-5ef1-4938-a2ce-b61e2f89ff71 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 331 + 156 + 46 + 20 + + + 355.5 + 166 + + + + + + + + The ROS client. + 1c3a0665-a31f-4f6b-a343-89073c77e7a7 + ros_client + ros_client + false + 0 + + + + + + 407 + 116 + 73 + 30 + + + 443.5 + 131 + + + + + + + + True if connection established. + 17ce31a9-caeb-4613-ab0b-fb88664811c6 + is_connected + is_connected + false + 0 + + + + + + 407 + 146 + 73 + 30 + + + 443.5 + 161 + + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + f9dd4743-5ef1-4938-a2ce-b61e2f89ff71 + Boolean Toggle + Toggle + false + 0 + true + + + + + + 106 + 163 + 104 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Robot + + + + + """ +Load robot directly from ROS. + +COMPAS FAB v0.27.0 +""" +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 v0.27.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDwAACw8BkvkDpQAAAVtJREFUSEu9lMFRwzAQRVMCJaSElJASUgIlUAGTEhguXHPinBJSAiWkBDow/9n6ZmWtQzwYduaNpdVqtf5redN13Z+SOtckdS5B9iCeeKbrmXMJsrNg8CkOzXo1Gao5iYtg4z6uR2SP4iqY+Ans3Y5xk00sTjfsBcmOgbjOmMK2wvs/mgNKQL8o3sRzmb8Iy5BRySLbifHNpwsM3gWHvJY5ByAb44xKRtkoTz+vJkNiBn7CQXAIr29oqNd7OWTIhHxMrmNOD0oQb2EdSYL2VUUlDjlJ5kKQMDa8lahsdEPdNFfUHFLiiYsNJ766D9WG3lHLYy7TOCOjEArLi2gcQ7ATR2bvxC1yZ/7VjI1bQu4cXjt+KeaYxd8idQLJQmLDoelPbY7UaWTxCzGnLHaO1Glkv2546xhubUz2E8i2m+YxreP7Ji9htvmt4x8O4Ffhn9q93C/R2qTO9eg2XxfZxOCoCLXEAAAAAElFTkSuQmCC + + false + baea3a7f-42ad-4480-b62c-39cd2f8c2e8a + true + true + ROS Robot + Robot + + + + + + 525 + 137 + 124 + 44 + + + 595 + 159 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ROS client. + f7ba96f4-94e2-4197-b4a3-31f6a0ca2f34 + ros_client + ros_client + true + 0 + true + 1c3a0665-a31f-4f6b-a343-89073c77e7a7 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 527 + 139 + 53 + 20 + + + 555 + 149 + + + + + + + + true + If True, loads the robot from ROS. Defaults to False. + e89e10b5-2ece-44bd-87f9-1811ce89ed0b + load + load + true + 0 + true + f9dd4743-5ef1-4938-a2ce-b61e2f89ff71 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 527 + 159 + 53 + 20 + + + 555 + 169 + + + + + + + + The robot. + 846547a4-0964-4bea-b2e5-d3fd03e0ff69 + robot + robot + false + 0 + + + + + + 610 + 139 + 37 + 40 + + + 628.5 + 159 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Inverse Kinematics + + + + + """ +Calculate the robot's inverse kinematic for a given plane. + +COMPAS FAB v0.27.0 +""" +from compas_rhino.conversions import RhinoPlane +from ghpythonlib.componentbase import executingcomponent as component + + +class InverseKinematics(component): + def RunScript(self, robot, plane, start_configuration, group): + configuration = None + if robot and robot.client and robot.client.is_connected and plane: + frame = RhinoPlane.from_geometry(plane).to_compas_frame() + configuration = robot.inverse_kinematics(frame, start_configuration, group) + return configuration + + Calculate the robot's inverse kinematic for a given plane. +COMPAS FAB v0.27.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDwAACw8BkvkDpQAAAYFJREFUSEu1lLFxwzAMRVWn8gApNIKKDOAubbqk1AgeQRP4NIJG0AgqMoCq1BpBGzD/ywANkbAt3dm4eyfwkwBEElIRQngprvhMXHEL7+ff0tNTXFFBkhqMIAgz6MG3+AcvzuKKDJRETDqBFjSgE005efEWV0QgEzJBl+gs/CdzZLTzHpmAoEqCe9VgNWjePj5/oHMn3B13xnV37yITJEEMhH0BOsrqWLBuuQfYEVR2btFTAQEDmHQMawCdyTyZzCYeAAeEfrz8VXKC5Mv2dQzrJFALWDyNtDFeHQXJ0yOybzcD3scJWJ3YnQyazytQSoHlkmG6Az5XfQ9jMTosbIveLkCQnG2qBRg8p2tk7iDzHFhiI2RBFpi+YWzZFFgFRlnHYs1q3g5SYL0E1t78FlyRwLh9OiTr76344iW5Xq57/lvJhaIogZ6psunX7JEL11azH1H8cPaSC9fE/EW04se+3ksu5MdDbrbpI3Lh0tf246H/ki7iv+Xoze/BFZ9HKP4BuwtzfPsUblIAAAAASUVORK5CYII= + + false + df49cbca-ec61-4dc7-8c55-18e7e63a3700 + true + true + Inverse Kinematics + IK + + + + + + 504 + 704 + 207 + 84 + + + 619 + 746 + + + + + + 4 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + 249e3fc8-1590-4989-8d02-71555d17803d + robot + robot + true + 0 + true + 846547a4-0964-4bea-b2e5-d3fd03e0ff69 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 506 + 706 + 98 + 20 + + + 556.5 + 716 + + + + + + + + true + The plane or frame to calculate the inverse kinematic for. + 7f79fc84-f4dc-442f-b7ec-2c6ef6d32d53 + plane + plane + true + 0 + true + b96209a7-93e4-4212-b096-c83e82b4da7b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 506 + 726 + 98 + 20 + + + 556.5 + 736 + + + + + + + + true + If passed, calculates the inverse such that the joint positions differ the least from the start_configuration. Defaults to the zero configuration. + 8aab3d36-825a-4b59-a5df-f5a5a92c336a + start_configuration + start_configuration + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 506 + 746 + 98 + 20 + + + 556.5 + 756 + + + + + + + + true + The planning group used for calculation. Defaults to the robot's main planning group. + fd831072-ab33-48dd-88f3-f5635811e6b2 + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 506 + 766 + 98 + 20 + + + 556.5 + 776 + + + + + + + + The planning group's configuration. + 1d8af690-69c5-4c9f-b553-1a05f97e8281 + configuration + configuration + false + 0 + + + + + + 634 + 706 + 75 + 80 + + + 671.5 + 746 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 13d747bd-3e05-4a41-8ea0-75bad3d5248b + Point + Pt + false + 0 + + + + + + 351 + 300 + 50 + 24 + + + 376.125 + 312 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0.367606789217143 + 0.00801042536875041 + -0.0177049653487109 + + + + + + + + + + + + + + cfb6b17f-ca82-4f5d-b604-d4f69f569de3 + Plane Normal + + + + + Create a plane perpendicular to a vector. + dd675efd-9233-4ad4-bb47-4b8f4932cc90 + Plane Normal + Pl + + + + + + 444 + 300 + 65 + 44 + + + 476 + 322 + + + + + + Origin of plane + a4967eb6-ce45-4b5a-a8bb-b57de9bc5816 + Origin + O + false + 13d747bd-3e05-4a41-8ea0-75bad3d5248b + 1 + + + + + + 446 + 302 + 15 + 20 + + + 455 + 312 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0 + 0 + 0 + + + + + + + + + + + + Z-Axis direction of plane + 6f2ccb4f-ad90-40cb-aa81-912ca1f36990 + Z-Axis + Z + false + 1f4c1d7b-92ac-410e-b8cf-de51d8691d13 + 1 + + + + + + 446 + 322 + 15 + 20 + + + 455 + 332 + + + + + + 1 + + + + + 1 + {0} + + + + + + 0 + 0 + 1 + + + + + + + + + + + + Plane definition + 3a86f18b-7506-4d48-8a5c-6048a1108886 + Plane + P + false + 0 + + + + + + 491 + 302 + 16 + 40 + + + 499 + 322 + + + + + + + + + + + + 9103c240-a6a9-4223-9b42-dbd19bf38e2b + Unit Z + + + + + Unit vector parallel to the world {z} axis. + 68575641-3532-400d-95f0-a0242e51e625 + Unit Z + Z + + + + + + 230 + 332 + 63 + 28 + + + 259 + 346 + + + + + + Unit multiplication + 1ec380b2-779c-4e5e-b32f-e1e05e1eaa2d + Factor + F + false + 0 + + + + + + 232 + 334 + 12 + 24 + + + 239.5 + 346 + + + + + + 1 + + + + + 1 + {0} + + + + + 1 + + + + + + + + + + + World {z} vector + 351348f7-2844-4518-aa54-7e8529b995cf + Unit vector + V + false + 0 + + + + + + 274 + 334 + 17 + 24 + + + 282.5 + 346 + + + + + + + + + + + + a3371040-e552-4bc8-b0ff-10a840258e88 + Negative + + + + + Compute the negative of a value. + eb5acce9-f665-4261-a8bc-ffd4947a64da + Negative + Neg + + + + + + 346 + 332 + 61 + 28 + + + 375 + 346 + + + + + + Input value + 28852126-05f6-43ae-8988-6d8909c2ffdf + Value + x + false + 351348f7-2844-4518-aa54-7e8529b995cf + 1 + + + + + + 348 + 334 + 12 + 24 + + + 355.5 + 346 + + + + + + + + Output value + 1f4c1d7b-92ac-410e-b8cf-de51d8691d13 + Result + y + false + 0 + + + + + + 390 + 334 + 15 + 24 + + + 397.5 + 346 + + + + + + + + + + + + d5967b9f-e8ee-436b-a8ad-29fdcecf32d5 + Curve + + + + + Contains a collection of generic curves + b171143f-e5e1-4bc8-92f7-eb329037f691 + Curve + Crv + false + 0 + + + + + + 205 + 462 + 50 + 24 + + + 230.4504 + 474.1136 + + + + + + 1 + + + + + 1 + {0} + + + + + -1 + + Y2BkYGD4DwQgGgR4mIBEWFBGZl6+c35ubn6ejkJYalFxZn6erbmekYWekbGBqYWesYGBoY6Cc2lOSWlRqm1eamlJUWKOjkJAaVJOZrJ3amVIfnZqnq2pqZGRhWGqpXmyuampqbEBK8gSSbDZeu6p+bmpJUWVen6lRUnFzqVFZaksQFn2MohlXIlFyRmZZanGKbmc+QWpeXkgVSwpiSWJIEUcHBxMIHcKqDMwGAFp18d8PJzMQAY/iPAEWsP0q56JwRbqqd//mRhEoP6TFFwfF8h9RXD/PwaBZkalD15SleJ/gPKsULUCzFCFINewMqCDD/YYQhDx/egi7NgVgkGgwhnRojUcDhBaAoMG2VudHp9fM/OtPbP+GT3ez8v379ipWnH0eO/+c/YXhM/8emb/5Nw7jz0aF+DiehsmX/r18rH9lReaJ47832kPE1e7vOXRU9979ovWC2xj47gGF/93lMNl3tMj9uKct19ttb4MF682mRz/v56pAeZWbjz+GAWjgIEBAA== + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + 2162e72e-72fc-4bf8-9459-d4d82fa8aa14 + Divide Curve + + + + + Divide a curve into equal length segments + true + 37fef6aa-0c60-4da4-9d31-1ae0bdd95cd2 + Divide Curve + Divide + + + + + + 293 + 443 + 65 + 64 + + + 325 + 475 + + + + + + Curve to divide + 17b7b741-c039-457b-bc69-9a5f2f8e5819 + Curve + C + false + b171143f-e5e1-4bc8-92f7-eb329037f691 + 1 + + + + + + 295 + 445 + 15 + 20 + + + 304 + 455 + + + + + + + + Number of segments + c4252d68-c3f0-4449-bc33-3963a1f5b379 + Count + N + false + 0 + + + + + + 295 + 465 + 15 + 20 + + + 304 + 475 + + + + + + 1 + + + + + 1 + {0} + + + + + 10 + + + + + + + + + + + Split segments at kinks + c67cd2ce-aeaf-48f1-b87d-ae648d16cb78 + Kinks + K + false + 0 + + + + + + 295 + 485 + 15 + 20 + + + 304 + 495 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + 1 + Division points + 02d756d0-695e-4b84-977a-5211a88fe540 + Points + P + false + 0 + + + + + + 340 + 445 + 16 + 20 + + + 348 + 455 + + + + + + + + 1 + Tangent vectors at division points + ff7cd25b-7346-40cf-93bd-b862456b2fad + Tangents + T + false + 0 + + + + + + 340 + 465 + 16 + 20 + + + 348 + 475 + + + + + + + + 1 + Parameter values at division points + 9f8a284b-b097-43d8-8703-768571059955 + Parameters + t + false + 0 + + + + + + 340 + 485 + 16 + 20 + + + 348 + 495 + + + + + + + + + + + + 2a5cfb31-028a-4b34-b4e1-9b20ae15312e + Cross Product + + + + + Compute vector cross product. + d6cabb95-93fe-48fe-9b1b-2070fdd10e56 + Cross Product + XProd + + + + + + 423 + 478 + 66 + 64 + + + 455 + 510 + + + + + + First vector + 7677fda3-a48e-4b19-9a38-3848beb2729e + Vector A + A + false + ff7cd25b-7346-40cf-93bd-b862456b2fad + 1 + + + + + + 425 + 480 + 15 + 20 + + + 434 + 490 + + + + + + + + Second vector + ab1ebaa3-5740-431c-8fc9-a779c8b99336 + Vector B + B + false + 351348f7-2844-4518-aa54-7e8529b995cf + 1 + + + + + + 425 + 500 + 15 + 20 + + + 434 + 510 + + + + + + + + Unitize output + 45f1c846-268d-49fd-a50d-dcd25e91cccc + Unitize + U + false + 0 + + + + + + 425 + 520 + 15 + 20 + + + 434 + 530 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + Cross product vector + 633bc054-2115-4c2b-8be8-c286377bce3d + Vector + V + false + 0 + + + + + + 470 + 480 + 17 + 30 + + + 478.5 + 495 + + + + + + + + Vector length + 8243a1a9-6216-4bc2-93b0-d7d17da9a8c7 + Length + L + false + 0 + + + + + + 470 + 510 + 17 + 30 + + + 478.5 + 525 + + + + + + + + + + + + bc3e379e-7206-4e7b-b63a-ff61f4b38a3e + Construct Plane + + + + + Construct a plane from an origin point and {x}, {y} axes. + true + 3974a64b-9fea-4aa6-a9ad-21315ef8260a + Construct Plane + Pl + + + + + + 527 + 443 + 68 + 64 + + + 559 + 475 + + + + + + Origin of plane + ada5ea08-627b-4ef2-9244-2c11db2d896f + Origin + O + false + 02d756d0-695e-4b84-977a-5211a88fe540 + 1 + + + + + + 529 + 445 + 15 + 20 + + + 538 + 455 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0 + 0 + 0 + + + + + + + + + + + + X-Axis direction of plane + 07101ef1-80e2-4825-a3da-9039e03fb50f + X-Axis + X + false + ff7cd25b-7346-40cf-93bd-b862456b2fad + 1 + + + + + + 529 + 465 + 15 + 20 + + + 538 + 475 + + + + + + 1 + + + + + 1 + {0} + + + + + + 1 + 0 + 0 + + + + + + + + + + + + Y-Axis direction of plane + c37c73c0-ad8c-442c-941a-484cdb43364c + Y-Axis + Y + false + 633bc054-2115-4c2b-8be8-c286377bce3d + 1 + + + + + + 529 + 485 + 15 + 20 + + + 538 + 495 + + + + + + 1 + + + + + 1 + {0} + + + + + + 0 + 1 + 0 + + + + + + + + + + + + Constructed plane + 44d4a187-3a93-413f-992e-d4cc7e2e19ad + Plane + Pl + false + 0 + + + + + + 574 + 445 + 19 + 60 + + + 583.5 + 475 + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Inverse Kinematics + + + + + """ +Calculate the robot's inverse kinematic for a given plane. + +COMPAS FAB v0.27.0 +""" +from compas_rhino.conversions import RhinoPlane +from ghpythonlib.componentbase import executingcomponent as component + + +class InverseKinematics(component): + def RunScript(self, robot, plane, start_configuration, group): + configuration = None + if robot and robot.client and robot.client.is_connected and plane: + frame = RhinoPlane.from_geometry(plane).to_compas_frame() + configuration = robot.inverse_kinematics(frame, start_configuration, group) + return configuration + + Calculate the robot's inverse kinematic for a given plane. +COMPAS FAB v0.27.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDgAACw4BQL7hQQAAAYFJREFUSEu1lLFxwzAMRVWn8gApNIKKDOAubbqk1AgeQRP4NIJG0AgqMoCq1BpBGzD/ywANkbAt3dm4eyfwkwBEElIRQngprvhMXHEL7+ff0tNTXFFBkhqMIAgz6MG3+AcvzuKKDJRETDqBFjSgE005efEWV0QgEzJBl+gs/CdzZLTzHpmAoEqCe9VgNWjePj5/oHMn3B13xnV37yITJEEMhH0BOsrqWLBuuQfYEVR2btFTAQEDmHQMawCdyTyZzCYeAAeEfrz8VXKC5Mv2dQzrJFALWDyNtDFeHQXJ0yOybzcD3scJWJ3YnQyazytQSoHlkmG6Az5XfQ9jMTosbIveLkCQnG2qBRg8p2tk7iDzHFhiI2RBFpi+YWzZFFgFRlnHYs1q3g5SYL0E1t78FlyRwLh9OiTr76344iW5Xq57/lvJhaIogZ6psunX7JEL11azH1H8cPaSC9fE/EW04se+3ksu5MdDbrbpI3Lh0tf246H/ki7iv+Xoze/BFZ9HKP4BuwtzfPsUblIAAAAASUVORK5CYII= + + false + 0bd900d0-2016-4c53-af3b-1c52cf194064 + true + true + Inverse Kinematics + IK + + + + + + 652 + 287 + 207 + 84 + + + 767 + 329 + + + + + + 4 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + a98f5131-0055-48d7-a0c2-fe32212117c6 + robot + robot + true + 0 + true + 846547a4-0964-4bea-b2e5-d3fd03e0ff69 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 654 + 289 + 98 + 20 + + + 704.5 + 299 + + + + + + + + true + The plane or frame to calculate the inverse kinematic for. + 84d72e79-136b-457e-8f5b-27843e5bf7b3 + plane + plane + true + 0 + true + 3a86f18b-7506-4d48-8a5c-6048a1108886 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 654 + 309 + 98 + 20 + + + 704.5 + 319 + + + + + + + + true + If passed, calculates the inverse such that the joint positions differ the least from the start_configuration. Defaults to the zero configuration. + 1682b475-974e-4465-847b-6f521d231a4b + start_configuration + start_configuration + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 654 + 329 + 98 + 20 + + + 704.5 + 339 + + + + + + + + true + The planning group used for calculation. Defaults to the robot's main planning group. + 9da8c8d9-ac45-43a1-8553-97c0c52b171a + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 654 + 349 + 98 + 20 + + + 704.5 + 359 + + + + + + + + The planning group's configuration. + ac00155a-4a35-4e0d-98f3-e0b82a464386 + configuration + configuration + false + 0 + + + + + + 782 + 289 + 75 + 80 + + + 819.5 + 329 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Constraints From Plane + + + + + """ +Create a position and an orientation constraint from a plane calculated for the group's end-effector link. + +COMPAS FAB v0.27.0 +""" +import math + +from compas_rhino.conversions import RhinoPlane +from ghpythonlib.componentbase import executingcomponent as component + + +class ConstraintsFromPlane(component): + def RunScript(self, robot, plane, group, tolerance_position, tolerance_xaxis, tolerance_yaxis, tolerance_zaxis): + goal_constraints = None + if robot and plane: + tolerance_position = tolerance_position or 0.001 + tolerance_xaxis = tolerance_xaxis or 1. + tolerance_yaxis = tolerance_yaxis or 1. + tolerance_zaxis = tolerance_zaxis or 1. + + frame = RhinoPlane.from_geometry(plane).to_compas_frame() + tolerances_axes = [math.radians(tolerance_xaxis), math.radians(tolerance_yaxis), math.radians(tolerance_zaxis)] + goal_constraints = robot.constraints_from_frame(frame, tolerance_position, tolerances_axes, group) + + return goal_constraints + + Create a position and an orientation constraint from a plane calculated for the group's end-effector link. +COMPAS FAB v0.27.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDgAACw4BQL7hQQAAAd9JREFUSEu1lTFLw0AYho92ENShVFHE1p4ILipkcBXqDxA6OQfHThn8ARk7OBQdXfIPzOyUwUFwKfgHSifBJU7idL7f9S7ctV+bVHB4yN17+Z4vuZxVKKX+FTacRYjnBpdXgQ1dIJdgyK1VgQ1dIA/BiFurAhu6QJ4CDP62TWzoAnFuGvS49TLY0AJpYOREwt1TBhtaII2cBmPunjLY0AJp5jQgJHffMtjQBdIYZNxaFdjQZVmDo44MwdLmbEi8CNGl66Z4GqzV0zcai0fRBcVxhTwGGM7XW9gQ8hAoMLhpXXyLIFYQJ2ACRvKk3Yd4RHJDDhIw9428CeHILUnzTvQhzoHaudqeSqWc4Jrp8VRuGwWur0xORBA3wNfG7bqWU5P6fe398PhgQHOqxbVrGng/K4vkOUhNpl8bDXqds9Zn57T9U3uo0Zaprevmh21AYBzRHBR/9VbeAxmIgPeKBAro6fQHBa9oNNy73E3b5/u6gVkj9BsB2rqYaj3RIkyx3p5VoFpWuAgU0R4X5x5j75hiTG9K8shmRXEVUDg0gtDMZxvYo6u/G+EJykBhA4yNhOS2IT25lRdPT3iCKkAggT3/LrR9npzwJqsAWQBsI/pNYv/jzQWrAKk+vtzaFCV+ASnZhhTkLZwXAAAAAElFTkSuQmCC + + false + d93333c1-6121-4133-94e5-b1cdbd79792d + true + true + Constraints From Plane + Constraints From Plane + + + + + + 501 + 973 + 193 + 144 + + + 614 + 1045 + + + + + + 7 + 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 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + cbf6a458-85d1-42a7-94f7-416fdfa1b2f0 + robot + robot + true + 0 + true + 538c02c6-6b3b-4712-a784-dda0bc63f847 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 503 + 975 + 96 + 20 + + + 552.5 + 985 + + + + + + + + true + The plane or frame from which we create position and orientation constraints. + 87942239-75a1-43f9-98a8-39af07ed3dbf + plane + plane + true + 0 + true + 1b843cc6-0c2b-4427-85b3-c5303911f7e9 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 503 + 995 + 96 + 20 + + + 552.5 + 1005 + + + + + + + + true + The planning group for which we specify the constraint. Defaults to the robot's main planning group. + 5f458976-1a25-4cf2-bb59-977ecaa69acf + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 503 + 1015 + 96 + 20 + + + 552.5 + 1025 + + + + + + + + true + The allowed tolerance to the frame's position (defined in the robot's units). Defaults to 0.001 + f4df44e0-61e9-4a9c-adc5-322c77ee723c + tolerance_position + tolerance_position + true + 0 + true + 0 + 39fbc626-7a01-46ab-a18e-ec1c0c41685b + + + + + + 503 + 1035 + 96 + 20 + + + 552.5 + 1045 + + + + + + + + true + The allowed tolerance of the frame's X-axis in degrees. + 38431b6b-d582-43ce-b820-9189820976ff + tolerance_xaxis + tolerance_xaxis + true + 0 + true + 0 + 39fbc626-7a01-46ab-a18e-ec1c0c41685b + + + + + + 503 + 1055 + 96 + 20 + + + 552.5 + 1065 + + + + + + + + true + The allowed tolerance of the frame's Y-axis in degrees. + 27304578-70c5-46fe-966d-55f6d2a284f3 + tolerance_yaxis + tolerance_yaxis + true + 0 + true + 0 + 39fbc626-7a01-46ab-a18e-ec1c0c41685b + + + + + + 503 + 1075 + 96 + 20 + + + 552.5 + 1085 + + + + + + + + true + The allowed tolerance of the frame's Z-axis in degrees. + 745b4728-c179-4f50-ad5c-43f1ca9fb8f8 + tolerance_zaxis + tolerance_zaxis + true + 0 + true + 0 + 39fbc626-7a01-46ab-a18e-ec1c0c41685b + + + + + + 503 + 1095 + 96 + 20 + + + 552.5 + 1105 + + + + + + + + A list containing a position and an orientation constraint. + 1a96f4f6-fa5c-4bec-8121-df8feb673fae + constraints + constraints + false + 0 + + + + + + 629 + 975 + 63 + 140 + + + 660.5 + 1045 + + + + + + + + + + + + + + 59daf374-bc21-4a5e-8282-5504fb7ae9ae + List Item + + + + + 0 + Retrieve a specific item from a list. + 8a1cd44e-8393-4da1-ba94-6a53dd4e3f37 + List Item + Item + + + + + + 240 + 988 + 64 + 64 + + + 274 + 1020 + + + + + + 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 + 5adfeb6c-e7f6-49be-a873-3d13194ccef5 + List + L + false + 55db7485-e593-4762-a166-64303d976c7a + 1 + + + + + + 242 + 990 + 17 + 20 + + + 252 + 1000 + + + + + + + + Item index + 3c505437-9eea-46c1-ab35-c8afc8032305 + Index + i + false + 0 + + + + + + 242 + 1010 + 17 + 20 + + + 252 + 1020 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + Wrap index to list bounds + 578930d2-94b0-4edd-8d4a-cd8a25689009 + Wrap + W + false + 0 + + + + + + 242 + 1030 + 17 + 20 + + + 252 + 1040 + + + + + + 1 + + + + + 1 + {0} + + + + + true + + + + + + + + + + + Item at {i'} + 1b843cc6-0c2b-4427-85b3-c5303911f7e9 + false + Item + i + false + 0 + + + + + + 289 + 990 + 13 + 60 + + + 295.5 + 1020 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Plan Motion + + + + + """ +Calculate a motion path. + +COMPAS FAB v0.27.0 +""" +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +from compas_fab.ghpython.components import create_id + + +class PlanMotion(component): + def RunScript(self, robot, goal_constraints, start_configuration, group, attached_collision_meshes, path_constraints, planner_id, compute): + + key = create_id(self, 'trajectory') + + path_constraints = list(path_constraints) if path_constraints else None + attached_collision_meshes = list(attached_collision_meshes) if attached_collision_meshes else None + planner_id = str(planner_id) if planner_id else 'RRTConnect' + + if robot and robot.client and robot.client.is_connected and start_configuration and goal_constraints and compute: + st[key] = robot.plan_motion(goal_constraints, + start_configuration=start_configuration, + group=group, + options=dict( + attached_collision_meshes=attached_collision_meshes, + path_constraints=path_constraints, + planner_id=planner_id, + )) + + trajectory = st.get(key, None) + return trajectory + + Calculate a motion path. +COMPAS FAB v0.27.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDwAACw8BkvkDpQAAAY1JREFUSEu1lM1tAjEQhSmBDkgJFMCBEnKJuKYESuAQiRoicaADKIEOkgK455icckHK5n3e8WbsHRJAG0sfjOc9478xo6Zp/pUwOSRhckjC5LWojcVWHMRezDvNGz1qM7ETm0j3qL0KAk+a5NyAtTO+iQ3fZ7z3Ins9+6QHAybGpyDBj58sPgb+lWk1h6QHA14EP/gkZpZjEgJ2M6n8U9NqVkn3ZhuQV1ucvdqD4OjWPm9avQvuZJy0wPxuprR6l6dCCN593ul3Yg5Fvui0Z78UC583jTyBuqUGahwjiyt3XnTasiTorVKNydGXtWZ63nm63C5fdP4+hiOaiHZIcRD8OgHHwCTh41ILV2kaY4t7S/kuaC+JaoBHb3IedvAl6grj1RNAsbtsoJY/zJDZeqP58iPkLrr3YH2Ck/cnzQz8QRHUTHsD2h0QpFetxtt4Fhztruc3U77cmqKmzbsQTMJ9+HG9B5j86eOKHZifms8FQSKsrORNHxfewS38BBdU0S2EySEJk0MSJoejGX0DqCUOkgYB1loAAAAASUVORK5CYII= + + false + 54d5165c-c7b9-4b61-a3f4-725adfe6cedb + true + true + Plan Motion + Plan Motion + + + + + + 895 + 884 + 224 + 164 + + + 1046 + 966 + + + + + + 8 + 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 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + 3ab0c3a7-74d4-4e20-8d40-f9d959596a64 + robot + robot + true + 0 + true + 538c02c6-6b3b-4712-a784-dda0bc63f847 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 897 + 886 + 134 + 20 + + + 965.5 + 896 + + + + + + + + 1 + true + The goal to be achieved, defined in a set of constraints. Constraints can be very specific, for example defining value domains for each joint, such that the goal configuration is included, or defining a volume in space, to which a specific robot link (e.g. the end-effector) is required to move to. + e4550953-1c4d-4196-accf-09e0629aecf8 + goal_constraints + goal_constraints + true + 1 + true + 1a96f4f6-fa5c-4bec-8121-df8feb673fae + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 897 + 906 + 134 + 20 + + + 965.5 + 916 + + + + + + + + true + The robot's full configuration, i.e. values for all configurable joints of the entire robot, at the starting position. Defaults to the all-zero configuration. + 045b29a2-7cdc-4ea7-b8be-65710ec81364 + start_configuration + start_configuration + true + 0 + true + c666c109-2ccb-4c50-90cd-00130af76eaa + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 897 + 926 + 134 + 20 + + + 965.5 + 936 + + + + + + + + true + The planning group used for calculation. Defaults to the robot's main planning group. + bc8ad3dc-fbe4-440a-98c4-151f7e612cbb + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 897 + 946 + 134 + 20 + + + 965.5 + 956 + + + + + + + + 1 + true + A list of attached collision meshes to be included for planning. + 8ef44a5c-ec14-4d30-9c85-7fed0cea4feb + attached_collision_meshes + attached_collision_meshes + true + 1 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 897 + 966 + 134 + 20 + + + 965.5 + 976 + + + + + + + + 1 + true + Optional constraints that can be imposed along the solution path. Note that path calculation won't work if the start_configuration violates these constraints. Defaults to None. + 79c1632c-fba5-40b8-a628-530ad610655d + path_constraints + path_constraints + true + 1 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 897 + 986 + 134 + 20 + + + 965.5 + 996 + + + + + + + + true + The name of the algorithm used for path planning. Defaults to 'RRTConnect' + 59c97f48-1889-4f3b-b990-cedd3ddf9849 + planner_id + planner_id + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 897 + 1006 + 134 + 20 + + + 965.5 + 1016 + + + + + + + + true + If True, calculates a trajectory. + 2dd1af7b-a420-4d72-8c10-01811c07df29 + compute + compute + true + 0 + true + e8dd8875-225b-4b6d-a8de-4f454ff7d868 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 897 + 1026 + 134 + 20 + + + 965.5 + 1036 + + + + + + + + The calculated trajectory. + 4e17b2ad-e9af-41eb-b6a5-7585e1f6e333 + trajectory + trajectory + false + 0 + + + + + + 1061 + 886 + 56 + 160 + + + 1089 + 966 + + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + e8dd8875-225b-4b6d-a8de-4f454ff7d868 + Boolean Toggle + Toggle + false + 0 + true + + + + + + 735 + 1033 + 104 + 22 + + + + + + + + + + b83c36e8-c587-4607-a4b3-d9fdad45d185 + 1c9de8a1-315f-4c56-af06-8f69fee80a7a + Flip Plane + + + + + Flip a plane by specified axes with the option of using a guide plane. + 711d6fa3-3862-4211-a255-f8c00962a10d + Flip Plane + FlipPln + + + + + + 701 + 443 + 67 + 104 + + + 734 + 495 + + + + + + Plane to flip + abc3aafd-8660-4da2-b7a9-b9b7e034def6 + Plane + Pl + false + 44d4a187-3a93-413f-992e-d4cc7e2e19ad + 1 + + + + + + 703 + 445 + 16 + 20 + + + 712.5 + 455 + + + + + + + + Optional guide plane to determine if the plane should flip, based on the guide plane axis angle to the axis of plane to flip + 70ee89b8-6d85-4c25-a81f-6e6012e6adde + Guide + G + true + 0 + + + + + + 703 + 465 + 16 + 20 + + + 712.5 + 475 + + + + + + + + Flip the planes X axis + 46e3bfc4-b95f-44bc-908c-be468fd2a325 + Flip X + X + false + 0 + + + + + + 703 + 485 + 16 + 20 + + + 712.5 + 495 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + Flip the planes Y axis + 21e47292-bdcc-4ecc-9890-bf40fedfefdc + Flip Y + Y + false + 0 + + + + + + 703 + 505 + 16 + 20 + + + 712.5 + 515 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + Flip the planes Z axis + 1352c30f-e3c9-4c38-800e-8703728f4f9d + Flip Z + Z + false + 0 + + + + + + 703 + 525 + 16 + 20 + + + 712.5 + 535 + + + + + + 1 + + + + + 1 + {0} + + + + + true + + + + + + + + + + + Resulting flipped plane + a4e35366-aed9-4624-91f1-08abb1a092fd + Flipped + F + false + 0 + + + + + + 749 + 445 + 17 + 50 + + + 757.5 + 470 + + + + + + + + True if plane was flipped, False if plane was not flipped + 4aa67233-ed42-4970-aca1-04b6a9204c9f + Result Boolean + R + false + 0 + + + + + + 749 + 495 + 17 + 50 + + + 757.5 + 520 + + + + + + + + + + + + + + + + + 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