diff --git a/docker/gofa-noetic/docker-compose-bioik.yml b/docker/gofa-noetic/docker-compose-bioik.yml index 8f0bf85..b73b8d0 100644 --- a/docker/gofa-noetic/docker-compose-bioik.yml +++ b/docker/gofa-noetic/docker-compose-bioik.yml @@ -17,8 +17,8 @@ services: # If we comment out the first line, we are connecting to our own computer, ie. to a RobotStudio simulated robot # If we comment out the second line, we are connecting to a robot with an IP address other than our own, ie. a real one. # The default IP address of all ABB robots (using what is called as "service port") is 192.168.125.1 - - robot_ip:=host.docker.internal - # - robot_ip:=192.168.125.1 + # - robot_ip:=host.docker.internal + - robot_ip:=192.168.125.1 - robot_streaming_port:=30101 - robot_state_port:=30201 - namespace:=rob1 diff --git a/lecture_07/700-pick-and-place-control_01.06.2023_LATEST.gh b/lecture_07/700-pick-and-place-control_01.06.2023_LATEST.gh new file mode 100644 index 0000000..f8b6845 Binary files /dev/null and b/lecture_07/700-pick-and-place-control_01.06.2023_LATEST.gh differ diff --git a/lecture_07/700-pick-and-place-control_MyFile.gh b/lecture_07/700-pick-and-place-control_MyFile.gh new file mode 100644 index 0000000..5f9efe2 Binary files /dev/null and b/lecture_07/700-pick-and-place-control_MyFile.gh differ diff --git a/lecture_07/700-pick-and-place-control_MyFile_NewDesign.gh b/lecture_07/700-pick-and-place-control_MyFile_NewDesign.gh new file mode 100644 index 0000000..5a17efb Binary files /dev/null and b/lecture_07/700-pick-and-place-control_MyFile_NewDesign.gh differ diff --git a/lecture_07/700-pick-and-place-control_MyFile_NewDesign2.gh b/lecture_07/700-pick-and-place-control_MyFile_NewDesign2.gh new file mode 100644 index 0000000..b5c18e3 Binary files /dev/null and b/lecture_07/700-pick-and-place-control_MyFile_NewDesign2.gh differ diff --git a/lecture_07/700-pick-and-place-control_MyFile_NewDesign2_v2.gh b/lecture_07/700-pick-and-place-control_MyFile_NewDesign2_v2.gh new file 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========================================================================== # Load mesh # ========================================================================== - ... + compas_mesh = Mesh.from_obj(os.path.join(DATA, MODEL)) # ========================================================================== # Move to origin # ========================================================================== - ... + move_mesh_to_point(compas_mesh, Point(0,0,0)) # ========================================================================== # Slicing @@ -52,9 +52,9 @@ def main(): # 'cgal': Very fast. Only for closed paths. # Requires additional installation (compas_cgal). # ========================================================================== - ... + slicer = PlanarSlicer(compas_mesh, slicer_type = "default", layer_height = 5) + slicer.slice_model() - # ========================================================================== # Generate brim / raft # ========================================================================== @@ -70,7 +70,7 @@ def main(): # Smooth the seams between layers # change the smooth_distance value to achieve smoother, or more abrupt seams # ========================================================================== - ... + seams_smooth(slicer, smooth_distance= 15) # ========================================================================== # Prints out the info of the slicer @@ -80,21 +80,19 @@ def main(): # ========================================================================== # Save slicer data to JSON # ========================================================================== - ... - + save_to_json(slicer.to_data(), OUTPUT_DIR, 'slicer_data.json') # ========================================================================== # Initializes the PlanarPrintOrganizer and creates PrintPoints # ========================================================================== - ... - ... + print_organizer = PlanarPrintOrganizer(slicer) + print_organizer.create_printpoints() + # ========================================================================== # Set fabrication-related parameters # ========================================================================== - ... - ... - ... - ... + set_extruder_toggle(print_organizer, slicer) + add_safety_printpoints(print_organizer, z_hop = 10.0) # ========================================================================== # Prints out the info of the PrintOrganizer @@ -104,8 +102,8 @@ def main(): # ========================================================================== # Converts the PrintPoints to data and saves to JSON # ========================================================================= - ... - + printpoints_data = print_organizer.output_printpoints_dict() + utils-save_to_json(printpoints_data, OUTPUT_DIR, 'out_printpoints.json') end_time = time.time() print("Total elapsed time", round(end_time - start_time, 2), "seconds") diff --git a/lecture_09/2_curved_slicing/curved_slicing.gh b/lecture_09/2_curved_slicing/curved_slicing.gh index 344663d..fb4adf3 100644 Binary files a/lecture_09/2_curved_slicing/curved_slicing.gh and b/lecture_09/2_curved_slicing/curved_slicing.gh differ diff --git a/lecture_09/3_your_own_function/2_your_own_function.gh b/lecture_09/3_your_own_function/2_your_own_function.gh index 254d660..8756e66 100644 Binary files a/lecture_09/3_your_own_function/2_your_own_function.gh and b/lecture_09/3_your_own_function/2_your_own_function.gh differ diff --git a/lecture_09/3_your_own_function/my_slicing_texture.py b/lecture_09/3_your_own_function/my_slicing_texture.py index 30d1765..a1ce003 100644 --- a/lecture_09/3_your_own_function/my_slicing_texture.py +++ b/lecture_09/3_your_own_function/my_slicing_texture.py @@ -4,4 +4,22 @@ from compas.geometry import scale_vector, add_vectors def create_overhang_texture(slicer, overhang_distance): - ... + print("Creating overhang texture") + + for i, layer in enumerate(slicer.layers): + if i%5 == 0 and i >0: + #only take every 5th layer and ignore first layer + for j, path in enumerate(layer.paths): + new_path = [] + for k, pt in enumerate(path.points): + if k%2 ==0: + #only take every 2nd point + normal = get_normal_of_path_on_xy_plane(k, pt, path, mesh = None) + normal_scaled = scale_vector(normal, -overhang_distance) + new_pt = add_vectors(pt, normal_scaled) + new_compas_pt = Point(new_pt[0], new_pt[1], new_pt[2]) + new_path.append(new_compas_pt) + else: + new_path.append(pt) + + layer.paths[j] = Path(new_path, is_closed=path.is_closed) \ No newline at end of file diff --git a/lecture_09/3_your_own_function_SOLUTION/my_slicing_texture.py b/lecture_09/3_your_own_function_SOLUTION/my_slicing_texture.py index 6a1d0a7..f392aae 100644 --- a/lecture_09/3_your_own_function_SOLUTION/my_slicing_texture.py +++ b/lecture_09/3_your_own_function_SOLUTION/my_slicing_texture.py @@ -9,7 +9,7 @@ def create_overhang_texture(slicer, overhang_distance): print("Creating cool texture") for i, layer in enumerate(slicer.layers): - if i % 5 == 0 and i > 0: + if i % 4 == 0 and i > 0: # for every 5th layer, except for the first layer # print(layer) for j, path in enumerate(layer.paths): @@ -18,7 +18,7 @@ def create_overhang_texture(slicer, overhang_distance): new_path = [] for k, pt in enumerate(path.points): # for every second point (only even points) - if k % 2 == 0: + if k % 3 == 0: # get the normal of the point in relation to the mesh normal = get_normal_of_path_on_xy_plane(k, pt, path, mesh=None) # scale the vector by a number to move the point diff --git a/lecture_09/assignment_04/alexandra_pittiglio/2_your_own_function.gh b/lecture_09/assignment_04/alexandra_pittiglio/2_your_own_function.gh new file mode 100644 index 0000000..254d660 Binary files /dev/null and b/lecture_09/assignment_04/alexandra_pittiglio/2_your_own_function.gh differ diff --git a/lecture_09/assignment_04/alexandra_pittiglio/Capture.PNG b/lecture_09/assignment_04/alexandra_pittiglio/Capture.PNG new file mode 100644 index 0000000..dd75cc1 Binary files /dev/null and b/lecture_09/assignment_04/alexandra_pittiglio/Capture.PNG differ diff --git a/lecture_09/assignment_04/alexandra_pittiglio/assignment_04.py b/lecture_09/assignment_04/alexandra_pittiglio/assignment_04.py new file mode 100644 index 0000000..e19de51 --- /dev/null +++ b/lecture_09/assignment_04/alexandra_pittiglio/assignment_04.py @@ -0,0 +1,130 @@ +import time +import os +import logging + +import compas_slicer.utilities as utils +from compas_slicer.pre_processing import move_mesh_to_point +from compas_slicer.slicers import PlanarSlicer +from compas_slicer.post_processing import generate_brim +from compas_slicer.post_processing import generate_raft +from compas_slicer.post_processing import simplify_paths_rdp +from compas_slicer.post_processing import seams_smooth +from compas_slicer.print_organization import PlanarPrintOrganizer +from compas_slicer.print_organization import set_extruder_toggle +from compas_slicer.print_organization import add_safety_printpoints +from compas_slicer.print_organization import set_linear_velocity_constant +from compas_slicer.print_organization import set_blend_radius +from compas_slicer.utilities import save_to_json + +from compas.datastructures import Mesh +from compas.geometry import Point + +# own function +from my_slicing_texture import create_overhang_texture + +# ============================================================================== +# Logging +# ============================================================================== +logger = logging.getLogger('logger') +logging.basicConfig(format='%(levelname)s-%(message)s', level=logging.INFO) + +# ============================================================================== +# Select location of data folder and specify model to slice +# ============================================================================== +DATA = os.path.join(os.path.dirname(__file__), 'data') +OUTPUT_DIR = utils.get_output_directory(DATA) # creates 'output' folder if it doesn't already exist +MODEL = 'new_vase_open_low_res.obj' + + +def main(): + start_time = time.time() + + # ========================================================================== + # Load mesh + # ========================================================================== + compas_mesh = Mesh.from_obj(os.path.join(DATA, MODEL)) + + # ========================================================================== + # Move to origin + # ========================================================================== + move_mesh_to_point(compas_mesh, Point(0, 0, 0)) + + # ========================================================================== + # Slicing + # options: 'default': Both for open and closed paths. But slow + # 'cgal': Very fast. Only for closed paths. + # Requires additional installation (compas_cgal). + # ========================================================================== + slicer = PlanarSlicer(compas_mesh, slicer_type="cgal", layer_height=5) + slicer.slice_model() + + # ========================================================================== + # Generate brim / raft + # ========================================================================== + # NOTE: Typically you would want to use either a brim OR a raft, + # however, in this example both are used to explain the functionality + # generate_brim(slicer, layer_width=3.0, number_of_brim_offsets=4) + # generate_raft(slicer, + # raft_offset=20, + # distance_between_paths=5, + # direction="xy_diagonal", + # raft_layers=1) + + # ========================================================================== + # Simplify the paths by removing points with a certain threshold + # change the threshold value to remove more or less points + # ========================================================================== + simplify_paths_rdp(slicer, threshold=0.7) + + ############################################################################ + # INSERT OWN TEXTURE HERE + ############################################################################ + create_overhang_texture(slicer, overhang_distance=25) + + # ========================================================================== + # Smooth the seams between layers + # change the smooth_distance value to achieve smoother, or more abrupt seams + # ========================================================================== + # seams_smooth(slicer, smooth_distance=10) + + # ========================================================================== + # Prints out the info of the slicer + # ========================================================================== + slicer.printout_info() + + # ========================================================================== + # Save slicer data to JSON + # ========================================================================== + save_to_json(slicer.to_data(), OUTPUT_DIR, 'slicer_data.json') + + # ========================================================================== + # Initializes the PlanarPrintOrganizer and creates PrintPoints + # ========================================================================== + print_organizer = PlanarPrintOrganizer(slicer) + print_organizer.create_printpoints() + + # ========================================================================== + # Set fabrication-related parameters + # ========================================================================== + # set_extruder_toggle(print_organizer, slicer) + # add_safety_printpoints(print_organizer, z_hop=10.0) + # set_linear_velocity_constant(print_organizer, v=100.0) + # set_blend_radius(print_organizer, d_fillet=10.0) + + # ========================================================================== + # Prints out the info of the PrintOrganizer + # ========================================================================== + print_organizer.printout_info() + + # ========================================================================== + # Converts the PrintPoints to data and saves to JSON + # ========================================================================= + printpoints_data = print_organizer.output_printpoints_dict() + utils.save_to_json(printpoints_data, OUTPUT_DIR, 'out_printpoints.json') + + end_time = time.time() + print("Total elapsed time", round(end_time - start_time, 2), "seconds") + + +if __name__ == "__main__": + main() diff --git a/lecture_09/assignment_04/alexandra_pittiglio/data/new_vase_open_low_res.mtl b/lecture_09/assignment_04/alexandra_pittiglio/data/new_vase_open_low_res.mtl new file mode 100644 index 0000000..625b2a4 --- /dev/null +++ b/lecture_09/assignment_04/alexandra_pittiglio/data/new_vase_open_low_res.mtl @@ -0,0 +1,8 @@ +# Rhino +newmtl diffuse_0 +Ka 0.0000 0.0000 0.0000 +Kd 0.0000 0.0000 0.0000 +Ks 1.0000 1.0000 1.0000 +Tf 0.0000 0.0000 0.0000 +d 1.0000 +Ns 0.0000 diff --git a/lecture_09/assignment_04/alexandra_pittiglio/data/new_vase_open_low_res.obj b/lecture_09/assignment_04/alexandra_pittiglio/data/new_vase_open_low_res.obj new file mode 100644 index 0000000..08cce82 --- /dev/null +++ b/lecture_09/assignment_04/alexandra_pittiglio/data/new_vase_open_low_res.obj @@ -0,0 +1,41543 @@ +# Rhino + +mtllib new_vase_open_low_res.mtl +usemtl diffuse_0 +v 122.26988983154297 -26.977006912231445 -11.043877601623535 +v 123.43792724609375 -20.994356155395508 -11.043877601623535 +v 124.31472778320313 -14.951059341430664 -11.043877601623535 +v 124.87918090820313 -9.1035604476928711 -11.043877601623535 +v 125.17110443115234 -3.1431097984313965 -11.043877601623535 +v 125.17668151855469 2.9126884937286377 -11.043877601623535 +v 124.88347625732422 9.0444240570068359 -11.043877601623535 +v 124.28073883056641 15.23100757598877 -11.043877601623535 +v 123.35959625244141 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a/lecture_09/assignment_04/alexandra_pittiglio/my_slicing_texture.py b/lecture_09/assignment_04/alexandra_pittiglio/my_slicing_texture.py new file mode 100644 index 0000000..d8abc77 --- /dev/null +++ b/lecture_09/assignment_04/alexandra_pittiglio/my_slicing_texture.py @@ -0,0 +1,25 @@ +from compas_slicer.geometry import Path +from compas_slicer.utilities.utils import get_normal_of_path_on_xy_plane +from compas.geometry import Point +from compas.geometry import scale_vector, add_vectors + +def create_overhang_texture(slicer, overhang_distance): + print("Creating overhang texture") + + for i, layer in enumerate(slicer.layers): + if i%3 == 0 and i >10: + #only take every 5th layer and ignore first layer + for j, path in enumerate(layer.paths): + new_path = [] + for k, pt in enumerate(path.points): + if k%3 ==0: + #only take every 2nd point + normal = get_normal_of_path_on_xy_plane(k, pt, path, mesh = None) + normal_scaled = scale_vector(normal, -overhang_distance) + new_pt = add_vectors(pt, normal_scaled) + new_compas_pt = Point(new_pt[0], new_pt[1], new_pt[2]) + new_path.append(new_compas_pt) + else: + new_path.append(pt) + + layer.paths[j] = Path(new_path, is_closed=path.is_closed) \ No newline at end of file