README.md

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:

"""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

How to submit your assignment

1. You should have forked this repository last week, if not, check assignment submission instructions in lecture 02.

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.

7. 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?)

   1. Open your browser and go to your fork
   2. Create the pull request clicking Compare & pull request and follow the instructions