From 0344a7d1a2eb91056a2900d9d4ce0be12ea1dee5 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Wed, 13 Dec 2023 08:50:44 +0000 Subject: [PATCH] Deploy to GitHub pages --- compas_fab/pull_394/.buildinfo | 4 + compas_fab/pull_394/.doctrees/api.doctree | Bin 0 -> 4535 bytes .../.doctrees/api/compas_fab.backends.doctree | Bin 0 -> 46094 bytes .../.doctrees/api/compas_fab.blender.doctree | Bin 0 -> 5432 bytes .../pull_394/.doctrees/api/compas_fab.doctree | Bin 0 -> 5872 bytes .../.doctrees/api/compas_fab.ghpython.doctree | Bin 0 -> 7549 bytes .../.doctrees/api/compas_fab.rhino.doctree | Bin 0 -> 7471 bytes .../.doctrees/api/compas_fab.robots.doctree | Bin 0 -> 37231 bytes .../.doctrees/api/compas_fab.sensors.doctree | Bin 0 -> 12314 bytes .../api/compas_fab.utilities.doctree | Bin 0 -> 24365 bytes ...kends.ABB_IRB4600_40_255Kinematics.doctree | Bin 0 -> 9179 bytes ...B_IRB4600_40_255Kinematics.forward.doctree | Bin 0 -> 4596 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z@q^h^m#L-~!Mq=q7-^*~{8g2p69zvOxYY`QdRVRNWq@IlVhXdNeQbw38Y1!aZ9|l+ z5aRTCk=b4g>#9M#=>i{6J(%p$32I>07Pf7pz#wsxZowa{8Tg{gNRB1e^yV(b`z|wbiS~tse7s0hf4GN4&xD`4; z@1HVsCAhU!jWt5!YXj;fva>l}65BVZ_52Ppq)q0FMSFKJ`h&h?iS;x8jvp$sVhQ>( zgM~kr{JXy5pX2W#UsY!9dX}owYhg2x+RCUY_A<`+YBR4>YCaf`tR`a_&l6v<{^1sJ z&b@L&;>t{Gb!hvB{MpOVJi0Bb*|}pJw2Dv`wh`c+8e$ejU=c#RES9 + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + be8074bb-8e96-4832-8044-be1802d61475 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 636715287477544574 + + 02_robot_artist_grasshopper_panda.ghx + + + + + 0 + + + + + + 14 + 339 + + 0.7830095 + + + + + 0 + + + + + + + 0 + + + + + 1 + + + + + Bengesht, Version=3.3.0.0, Culture=neutral, PublicKeyToken=null + 3.3.0.0 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + 33 + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + e3519229-ca14-4046-9d11-7a716a404611 + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + e4d3df7f-9bf6-4904-a0fb-866c58065392 + 3c5b08e1-3320-45e7-b710-dcff1c931d17 + 2004e9d5-6229-4005-b011-5a487d9d26d4 + 8f17853c-ec39-418d-8403-ec3f431cc3c4 + a9eca4b1-fc4a-4f24-88ac-745bb2a4c6eb + c0ee2b14-be7e-40ae-a58a-9c0dda14bcc0 + 5764ad31-7a82-4273-8d0a-c7b3751d9044 + d88c50d4-08aa-4515-af81-6e282faa6879 + 10 + 9dbdf6e0-3aef-4a69-bf3b-3bde98a5165b + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + from scriptcontext import sticky as st + +import compas + +from compas.robots import RobotModel +from compas_fab.backends import RosClient +from compas_ghpython.artists import RobotModelArtist + +# Robot meshes are usually in meters +# Set a high precision to prevent parsing errors +# and configure Rhino itself in meters +compas.PRECISION = '12f' + +# Store robot in component-based key +robot_key = 'robot_{}'.format(str(ghenv.Component.InstanceGuid)) + +if robot_key not in st: + st[robot_key] = None + +if load: + with RosClient() as client: + robot = client.load_robot(load_geometry=True) + robot.artist = RobotModelArtist(robot.model) + + st[robot_key] = robot + +robot = st[robot_key] + + GhPython provides a Python script component + + 72 + 0 + + + 1454 + 1050 + + true + true + 2 + e3519229-ca14-4046-9d11-7a716a404611 + false + true + Python Script + Python + + + + + + 174 + 119 + 99 + 28 + + + 219 + 133 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + b845a43d-038e-4745-9da8-0868a6372819 + load + load + true + 0 + true + e4d3df7f-9bf6-4904-a0fb-866c58065392 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 176 + 121 + 28 + 24 + + + 191.5 + 133 + + + + + + + + Script output robot. + 8d0c519a-1fce-4cbb-88d0-15d30b363874 + robot + robot + false + 0 + + + + + + 234 + 121 + 37 + 24 + + + 252.5 + 133 + + + + + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + Data + Robot + false + 8d0c519a-1fce-4cbb-88d0-15d30b363874 + 1 + + + + + + 310 + 123 + 50 + 20 + + + 335.6251 + 133.1552 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + e4d3df7f-9bf6-4904-a0fb-866c58065392 + Button + Load + false + 0 + + + + + + 44 + 122 + 94 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if reload: + from compas_ghpython import unload_modules + unload_modules('compas') + + GhPython provides a Python script component + + 196 + 196 + + + 1095 + 830 + + true + true + 4ad079ed-237e-402b-839e-4d1975a36726 + false + true + Python Script + py + + + + + + 145 + -48 + 69 + 30 + + + 200 + -33 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 0 + + + + + true + Script variable Python + 1a21fdc9-69f7-4e45-9c42-fca750828fea + reload + reload + true + 0 + true + e78ee278-5bbc-4a80-85c4-503ce2766001 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 147 + -46 + 38 + 26 + + + 167.5 + -33 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + e78ee278-5bbc-4a80-85c4-503ce2766001 + Button + reload + false + 0 + + + + + + 23 + -44 + 101 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + eee82406-b14b-4ac3-b15a-b1e5ef338f81 + 252795c8-0af3-408a-afcd-68922325c144 + 1d64e9e6-fab2-40b7-aeeb-a0b863eba38c + abd8ff11-fb3b-499e-af56-138ee2b7bdfe + 035dac9f-6d96-40ef-8a6d-11539ffb4e73 + bd3bc033-cab0-4715-ba95-fd0a4d671fad + ecee4657-2cf3-4e4e-b878-7d63a24b29b1 + d33a91db-afca-4e47-9440-82f794770b4d + f510ccc8-bb14-4519-b9ee-1cd25d6ec2a8 + c60fc3c5-58aa-4088-aa81-0bbf3d41c82a + 3ceeb26d-dcad-4ced-9a50-36516abd0e6b + 2d8b4f66-1cea-40f2-a0be-1b871394b264 + 12 + 600d8045-03b6-40b7-8618-3c16c25cd973 + Group + forward kinematics + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import math +from compas.robots import Configuration + +if robot: + joint_values = [a1, a2, a3, a4, a5, a6, a7] + joint_names = robot.get_configurable_joint_names('panda_arm') + + configuration = Configuration.from_revolute_values([math.radians(a) for a in joint_values], joint_names=joint_names) + + GhPython provides a Python script component + + 147 + 147 + + + 1300 + 740 + + true + true + eee82406-b14b-4ac3-b15a-b1e5ef338f81 + false + true + Python Script + arm + + + + + + 685 + 117 + 143 + 164 + + + 736 + 199 + + + + + + 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 + Script variable Python + a71fb026-a64b-4610-bae6-c82c158359cf + robot + robot + true + 0 + true + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 687 + 119 + 34 + 20 + + + 705.5 + 129 + + + + + + + + true + Script input a1. + 6de3c98a-61cc-435b-bc2a-c9e7d243fb96 + a1 + a1 + true + 0 + true + 252795c8-0af3-408a-afcd-68922325c144 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 139 + 34 + 20 + + + 705.5 + 149 + + + + + + + + true + Script input a2. + c8b04805-a3b5-4722-97aa-6b3806f3a17a + a2 + a2 + true + 0 + true + 1d64e9e6-fab2-40b7-aeeb-a0b863eba38c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 159 + 34 + 20 + + + 705.5 + 169 + + + + + + + + true + Script input a3. + 14afa5f0-fda2-4a29-a2fa-3a38f53d9970 + a3 + a3 + true + 0 + true + abd8ff11-fb3b-499e-af56-138ee2b7bdfe + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 179 + 34 + 20 + + + 705.5 + 189 + + + + + + + + true + Script input a4. + b9f1cc41-d5ba-424f-8180-77e6ea93fcc9 + a4 + a4 + true + 0 + true + 035dac9f-6d96-40ef-8a6d-11539ffb4e73 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 199 + 34 + 20 + + + 705.5 + 209 + + + + + + + + true + Script input a5. + cff1c9ae-c969-4afe-a02c-e6475a790084 + a5 + a5 + true + 0 + true + bd3bc033-cab0-4715-ba95-fd0a4d671fad + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 219 + 34 + 20 + + + 705.5 + 229 + + + + + + + + true + Script input a6. + 6d91349b-34ed-4408-8418-7d7932bd91b2 + a6 + a6 + true + 0 + true + ecee4657-2cf3-4e4e-b878-7d63a24b29b1 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 239 + 34 + 20 + + + 705.5 + 249 + + + + + + + + true + Script input a7. + 8579f951-899c-4a23-b503-6fe440531188 + x + a7 + true + 0 + true + f510ccc8-bb14-4519-b9ee-1cd25d6ec2a8 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 259 + 34 + 20 + + + 705.5 + 269 + + + + + + + + Script output configuration. + e9124a0a-6f25-4430-8741-b5183bd4ccbe + configuration + configuration + false + 0 + + + + + + 751 + 119 + 75 + 160 + + + 788.5 + 199 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 252795c8-0af3-408a-afcd-68922325c144 + Number Slider + a1 + false + 0 + + + + + + 420 + 138 + 227 + 20 + + + 420.5246 + 138.3925 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 1d64e9e6-fab2-40b7-aeeb-a0b863eba38c + Number Slider + a2 + false + 0 + + + + + + 420 + 162 + 227 + 20 + + + 420.2376 + 162.8233 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + -45 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + abd8ff11-fb3b-499e-af56-138ee2b7bdfe + Number Slider + a3 + false + 0 + + + + + + 422 + 186 + 227 + 20 + + + 422.4095 + 186.0742 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 035dac9f-6d96-40ef-8a6d-11539ffb4e73 + Number Slider + a4 + false + 0 + + + + + + 420 + 208 + 227 + 20 + + + 420.3647 + 208.3124 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + -135 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + bd3bc033-cab0-4715-ba95-fd0a4d671fad + Number Slider + a5 + false + 0 + + + + + + 420 + 230 + 227 + 20 + + + 420.3647 + 230.3127 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + ecee4657-2cf3-4e4e-b878-7d63a24b29b1 + Number Slider + a6 + false + 0 + + + + + + 420 + 253 + 227 + 20 + + + 420.9646 + 253.3126 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 90 + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 424.5905 + 76.55536 + + + 695.9352 + 76.55536 + + + 695.9352 + 115.0329 + + + 424.5905 + 115.0329 + + A quick note + Arial + d33a91db-afca-4e47-9440-82f794770b4d + false + Scribble + Scribble + 41 + Configuration + + + + + + 419.5905 + 71.55536 + 281.3447 + 48.47754 + + + 424.5905 + 76.55536 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + """Visualizes a robot. + Inputs: + robot: The robot + configuration: :class:`compas_fab.robots.Configuration` + The robot's full configuration to display. + show_visual: bool + Whether or not to show the robot's visual meshes. + show_collision: bool + Whether or not to show the robot's collision meshes. + show_frames: bool + Whether or not to show the robot's joint frames. + show_base_frame: bool + Whether or not to show the robot's base frame. + show_end_effector_frame: bool + Whether or not to show the robot's end-effector frame. + Output: + visual: The robot's visual meshes. + collision: The robot's collision meshes. + frames: The robot's joint frames. + base_frame: The robot's base frame. + ee_frame: The robot's end-effector frame. +""" +from __future__ import print_function + +if robot and configuration: + group = robot.main_group_name + robot.update(configuration, group, visual=show_visual, collision=show_collision) + + if show_visual: + visual = robot.artist.draw_visual() + + if show_collision: + collision = robot.artist.draw_collision() + + if show_frames: + axes = robot.transformed_axes(configuration, group) + frames = robot.transformed_frames(configuration, group) + + if show_base_frame: + frames = robot.transformed_frames(configuration, group) + base_frame = frames[0] + + if show_end_effector_frame: + ee_frame = robot.forward_kinematics(configuration, group) + print("End-effector", ee_frame) + + Visualizes a robot. + + 27 + 0 + + + 1653 + 1050 + + true + true + true + 601f7392-de55-4af1-b035-34947de6e7f8 + false + true + Python Script + visualize + + + + + + 1223 + 157 + 229 + 144 + + + 1370 + 229 + + + + + + 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 + 5 + 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 + edc2cca5-05a1-4492-a047-24ec8598f256 + robot + robot + true + 0 + true + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1225 + 159 + 130 + 20 + + + 1291.5 + 169 + + + + + + + + true + :class:`compas_fab.robots.Configuration` +The robot's full configuration to display. + 0fa7050b-aca0-44c9-95bf-3206ebe8e5b0 + configuration + configuration + true + 0 + true + 5450a9b9-70f7-4d9d-b403-378148df5591 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1225 + 179 + 130 + 20 + + + 1291.5 + 189 + + + + + + + + true + bool +Whether or not to show the robot's visual meshes. + 2f81c8bb-da6c-4bba-ad85-ae1035a0f9e9 + show_visual + show_visual + true + 0 + true + eb478f26-ffb0-4166-ae11-56c33b606a6d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1225 + 199 + 130 + 20 + + + 1291.5 + 209 + + + + + + + + true + bool +Whether or not to show the robot's collision meshes. + 772a363d-e513-420e-9cce-79bb87e363c8 + show_collision + show_collision + true + 0 + true + d5a5d016-018d-4fdf-9c39-cca3847596d0 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1225 + 219 + 130 + 20 + + + 1291.5 + 229 + + + + + + + + true + bool +Whether or not to show the robot's joint frames. + 5fd4532b-32e0-489c-8eaf-557398840eb6 + show_frames + show_frames + true + 0 + true + 0da0195f-f786-4b14-a075-51271a46a8e3 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1225 + 239 + 130 + 20 + + + 1291.5 + 249 + + + + + + + + true + bool +Whether or not to show the robot's base frame. + 1bed383c-8ba4-4eaf-b66a-1b482227d63d + show_base_frame + show_base_frame + true + 0 + true + 06207700-b114-406c-9b5d-d3ba24e6f67d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1225 + 259 + 130 + 20 + + + 1291.5 + 269 + + + + + + + + true + bool +Whether or not to show the robot's end-effector frame. + 52f36410-04ec-4fd4-89a2-bfde76912375 + show_end_effector_frame + show_end_effector_frame + true + 0 + true + 4febdca0-5d9c-49d8-ac06-83cffc970ddb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1225 + 279 + 130 + 20 + + + 1291.5 + 289 + + + + + + + + The robot's visual meshes. + 8ab249ce-3741-4a6a-a338-67eee6b508c4 + visual + visual + false + 0 + + + + + + 1385 + 159 + 65 + 28 + + + 1417.5 + 173 + + + + + + + + The robot's collision meshes. + ef7e70b3-73e1-4494-8341-fb514027048c + collision + collision + false + 0 + + + + + + 1385 + 187 + 65 + 28 + + + 1417.5 + 201 + + + + + + + + The robot's joint frames. + 8293a1ff-c9b7-40f6-aa60-384e7530a1c6 + frames + frames + false + 0 + + + + + + 1385 + 215 + 65 + 28 + + + 1417.5 + 229 + + + + + + + + The robot's end-effector frame. + a914d789-3e2e-435f-a48e-a83069cf52d1 + ee_frame + ee_frame + false + 0 + + + + + + 1385 + 243 + 65 + 28 + + + 1417.5 + 257 + + + + + + + + The robot's base frame. + d1fa2915-3c27-4784-a5bb-0f1b2f2a6be7 + base_frame + base_frame + false + 0 + + + + + + 1385 + 271 + 65 + 28 + + + 1417.5 + 285 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 9b3cbd56-42b2-432b-8212-76f874ee84fe + 5f732c3a-3fa7-4ccb-b165-aedbf736a624 + 7b279625-b2ec-4866-8c2e-b5cd5304b5fc + fe6c1d5a-1e70-42a9-86d4-49550602f4be + d546900d-eccd-43dd-a4e3-02e090309597 + 5c9a2cf1-d287-4b54-95dc-f64bc7e489d1 + 34cec146-a15f-4660-ab2e-05e0dd646833 + 16042d38-d8f7-4fb5-9a93-245fc82b6f0b + 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ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 9eb273ad-eae3-44f1-9bb3-391b93e3d291 + Geometry + Geo + false + 8ab249ce-3741-4a6a-a338-67eee6b508c4 + 1 + + + + + + 1520 + 139 + 50 + 20 + + + 1545.835 + 149.4936 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 9282ba2b-c1e5-4558-9b52-ebd039083c7a + Geometry + Geo + false + ef7e70b3-73e1-4494-8341-fb514027048c + 1 + + + + + + 1520 + 165 + 50 + 20 + + + 1545.083 + 175.2295 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + eb478f26-ffb0-4166-ae11-56c33b606a6d + Boolean Toggle + show_visual + false + 0 + true + + + + + + 1060 + 190 + 127 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + d5a5d016-018d-4fdf-9c39-cca3847596d0 + Boolean Toggle + show_collision + false + 0 + false + + + + + + 1048 + 214 + 139 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 0da0195f-f786-4b14-a075-51271a46a8e3 + Boolean Toggle + show_frames + false + 0 + false + + + + + + 1053 + 240 + 133 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 4febdca0-5d9c-49d8-ac06-83cffc970ddb + Boolean Toggle + show_end_effector_frame + false + 0 + false + + + + + + 994 + 287 + 193 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 06207700-b114-406c-9b5d-d3ba24e6f67d + Boolean Toggle + show_base_frame + false + 0 + false + + + + + + 1032 + 263 + 155 + 22 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 40.64706 + 63.21286 + + + 283.1436 + 63.21286 + + + 283.1436 + 93.04196 + + + 40.64706 + 93.04196 + + A quick note + Arial + c0ee2b14-be7e-40ae-a58a-9c0dda14bcc0 + false + Scribble + Scribble + 41 + Panda robot + + + + + + 35.64706 + 58.21286 + 252.4966 + 39.8291 + + + 40.64706 + 63.21286 + + + + + + + + + + 11e95a7b-1e2c-4b66-bd95-fcad51f8662a + Vector Display Ex + + + + + Preview vectors in the viewport + 50924452-73fd-4c6a-89f5-80888158e917 + Vector Display Ex + VDisEx + + + + + + 1616 + 216 + 48 + 84 + + + 1650 + 258 + + + + + + Start point of vector + f7177981-695c-418a-a010-7dd99d5a8f29 + Point + P + true + d962205a-6e76-4ca6-8dcd-02887bad430e + 1 + + + + + + 1618 + 218 + 17 + 20 + + + 1628 + 228 + + + + + + + + Vector to display + 835f1cbc-caec-4c43-983c-26fe617f1c79 + Vector + V + true + c9f33911-c95c-42f4-885a-2667387e2399 + 1 + + + + + + 1618 + 238 + 17 + 20 + + + 1628 + 248 + + + + + + + + Colour of vector + 58ad43af-e9b5-49d8-9d81-5842d8c93999 + Colour + C + true + 50588f92-6509-40a1-9194-2ff9d746d25e + 1 + + + + + + 1618 + 258 + 17 + 20 + + + 1628 + 268 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;0;0;0 + + + + + + + + + + + + Width of vector lines + 9b598ca0-2f78-41cb-b49b-2e52ca65444f + Width + W + true + 8ca6f7d9-32cf-4f92-9c92-841f23816947 + 1 + + + + + + 1618 + 278 + 17 + 20 + + + 1628 + 288 + + + + + + 1 + + + + + 1 + {0} + + + + + 2 + + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from System.Drawing import Color +from compas_ghpython.utilities import draw_frame + +red = Color.FromArgb(255, 0, 0) +green = Color.FromArgb(0, 255, 0) +blue = Color.FromArgb(0, 0, 255) + +P = [] +V = [] +C = [] + +scale = float(scale) + +for frame in frames: + if not frame: + continue + plane = draw_frame(frame) + P += [plane.Origin] * 3 + V.append(plane.XAxis * scale) + V.append(plane.YAxis * scale) + V.append(plane.ZAxis * scale) + C += [red, green, blue] + +W = 3 + GhPython provides a Python script component + + 1768 + 319 + + + 741 + 702 + + true + true + true + 50ae1e6b-93bc-4ba7-958f-0d9b29ee1eff + false + true + GhPython Script + draw + + + + + + 1492 + 216 + 94 + 84 + + + 1549 + 258 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + true + Script input frames. + 0895e9a1-7bb6-41eb-bf22-20720a1c02a0 + frames + frames + true + 1 + true + 8293a1ff-c9b7-40f6-aa60-384e7530a1c6 + a914d789-3e2e-435f-a48e-a83069cf52d1 + d1fa2915-3c27-4784-a5bb-0f1b2f2a6be7 + 3 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1494 + 218 + 40 + 40 + + + 1515.5 + 238 + + + + + + + + true + Script input scale. + d8ac5fbf-6602-46e9-83f5-86c2111c3756 + scale + scale + true + 0 + true + df710f60-0af2-4824-a791-db8f5e415e90 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1494 + 258 + 40 + 40 + + + 1515.5 + 278 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Number + 0.1 + + + + + + + + + + + Script output P. + d962205a-6e76-4ca6-8dcd-02887bad430e + P + P + false + 0 + + + + + + 1564 + 218 + 20 + 20 + + + 1574 + 228 + + + + + + + + Script output V. + c9f33911-c95c-42f4-885a-2667387e2399 + V + V + false + 0 + + + + + + 1564 + 238 + 20 + 20 + + + 1574 + 248 + + + + + + + + Script output C. + 50588f92-6509-40a1-9194-2ff9d746d25e + C + C + false + 0 + + + + + + 1564 + 258 + 20 + 20 + + + 1574 + 268 + + + + + + + + Script output W. + 8ca6f7d9-32cf-4f92-9c92-841f23816947 + W + W + false + 0 + + + + + + 1564 + 278 + 20 + 20 + + + 1574 + 288 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + df710f60-0af2-4824-a791-db8f5e415e90 + Number Slider + + false + 0 + + + + + + 1493 + 192 + 160 + 20 + + + 1493.551 + 192.6755 + + + + + + 1 + 1 + 0 + 1 + 0 + 0 + 0.1 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + f510ccc8-bb14-4519-b9ee-1cd25d6ec2a8 + Number Slider + a7 + false + 0 + + + + + + 420 + 275 + 227 + 20 + + + 420.6115 + 275.7363 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 45 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + c60fc3c5-58aa-4088-aa81-0bbf3d41c82a + Number Slider + j1 + false + 0 + + + + + + 422 + 326 + 227 + 20 + + + 422.9954 + 326.9836 + + + + + + 3 + 1 + 1 + 50 + 0 + 0 + 12 + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import math +from compas.robots import Joint +from compas.robots import Configuration + +if robot: + joint_values = [j1] + joint_names = robot.get_configurable_joint_names('hand') + + configuration = Configuration([a / 1000 for a in joint_values], [Joint.PRISMATIC], joint_names=joint_names) + GhPython provides a Python script component + + 147 + 147 + + + 1300 + 740 + + true + true + 3ceeb26d-dcad-4ced-9a50-36516abd0e6b + false + true + Python Script + hand + + + + + + 686 + 303 + 143 + 46 + + + 737 + 326 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + a58b523b-507c-4653-a5eb-d180822cee85 + robot + robot + true + 0 + true + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 688 + 305 + 34 + 21 + + + 706.5 + 315.5 + + + + + + + + true + Script input j1. + 5cb0a045-476e-4d63-8b40-deb1b1fb86a4 + a1 + j1 + true + 0 + true + c60fc3c5-58aa-4088-aa81-0bbf3d41c82a + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 688 + 326 + 34 + 21 + + + 706.5 + 336.5 + + + + + + + + Script output configuration. + af9acd79-8e24-4068-8ddf-c2a875cf1505 + configuration + configuration + false + 0 + + + + + + 752 + 305 + 75 + 42 + + + 789.5 + 326 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + c = a.merged(b) + + GhPython provides a Python script component + + 38 + 38 + + + 1141 + 1103 + + true + true + 2d8b4f66-1cea-40f2-a0be-1b871394b264 + false + true + GhPython Script + Merge + + + + + + 843 + 184 + 63 + 56 + + + 874 + 212 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 1e747f8b-b189-4c58-baf3-6738005a0d06 + a + a + true + 0 + true + e9124a0a-6f25-4430-8741-b5183bd4ccbe + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 845 + 186 + 14 + 26 + + + 853.5 + 199 + + + + + + + + true + Script input b. + b0e8107e-55bd-4c6a-8e81-1c7561d016dd + b + b + true + 0 + true + af9acd79-8e24-4068-8ddf-c2a875cf1505 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 845 + 212 + 14 + 26 + + + 853.5 + 225 + + + + + + + + Script output c. + 5450a9b9-70f7-4d9d-b403-378148df5591 + a + c + false + 0 + + + + + + 889 + 186 + 15 + 52 + + + 896.5 + 212 + + + + + + + + + + + + + + + + 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 + + + + + \ No newline at end of file diff --git a/compas_fab/pull_394/_downloads/1f0a52419d7e8f514ea68fe1014c0dec/01_add_attached_collision_mesh.py b/compas_fab/pull_394/_downloads/1f0a52419d7e8f514ea68fe1014c0dec/01_add_attached_collision_mesh.py new file mode 100644 index 000000000..b116e27d9 --- /dev/null +++ b/compas_fab/pull_394/_downloads/1f0a52419d7e8f514ea68fe1014c0dec/01_add_attached_collision_mesh.py @@ -0,0 +1,28 @@ +import time + +from compas.datastructures import Mesh +from compas.robots import LocalPackageMeshLoader + +import compas_fab +from compas_fab.backends import PyBulletClient +from compas_fab.robots import AttachedCollisionMesh +from compas_fab.robots import CollisionMesh + + +with PyBulletClient() as client: + urdf_filepath = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf') + loader = LocalPackageMeshLoader(compas_fab.get('universal_robot'), 'ur_description') + robot = client.load_robot(urdf_filepath, [loader]) + + mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl')) + cm = CollisionMesh(mesh, 'tip') + acm = AttachedCollisionMesh(cm, 'ee_link') + client.add_attached_collision_mesh(acm, {'mass': 0.5, 'robot': robot}) + + time.sleep(1) + client.step_simulation() + time.sleep(1) + + client.remove_attached_collision_mesh('tip', {'robot': robot}) + + time.sleep(1) diff --git a/compas_fab/pull_394/_downloads/21bdbdd40c3ebb54783eb6b065e00c7f/docker-compose.yml b/compas_fab/pull_394/_downloads/21bdbdd40c3ebb54783eb6b065e00c7f/docker-compose.yml new file mode 100644 index 000000000..b55b29050 --- /dev/null +++ b/compas_fab/pull_394/_downloads/21bdbdd40c3ebb54783eb6b065e00c7f/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - abb_irb120t_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/4bd2f38e7b50405bd8d8b8af0670be1f/docker-compose.yml b/compas_fab/pull_394/_downloads/4bd2f38e7b50405bd8d8b8af0670be1f/docker-compose.yml new file mode 100644 index 000000000..030cbaa9a --- /dev/null +++ b/compas_fab/pull_394/_downloads/4bd2f38e7b50405bd8d8b8af0670be1f/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - ur10e_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/4e9c719ba8522afb0e2f9f3b4a33dbbb/docker-compose.yml b/compas_fab/pull_394/_downloads/4e9c719ba8522afb0e2f9f3b4a33dbbb/docker-compose.yml new file mode 100644 index 000000000..4204b5cbb --- /dev/null +++ b/compas_fab/pull_394/_downloads/4e9c719ba8522afb0e2f9f3b4a33dbbb/docker-compose.yml @@ -0,0 +1,26 @@ +version: '2' +services: + ros-core: + image: gramaziokohler/ros-noetic-base + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-base + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + - unregister_timeout:=28800 diff --git a/compas_fab/pull_394/_downloads/5002752187c3e7208d3755f844079c7f/docker-compose.yml b/compas_fab/pull_394/_downloads/5002752187c3e7208d3755f844079c7f/docker-compose.yml new file mode 100644 index 000000000..809868e05 --- /dev/null +++ b/compas_fab/pull_394/_downloads/5002752187c3e7208d3755f844079c7f/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - abb_irb1600_6_12_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/5464b437ec27284adac31409c2df391e/05_grasshopper_collision_objects.ghx b/compas_fab/pull_394/_downloads/5464b437ec27284adac31409c2df391e/05_grasshopper_collision_objects.ghx new file mode 100644 index 000000000..eed38b40d --- /dev/null +++ b/compas_fab/pull_394/_downloads/5464b437ec27284adac31409c2df391e/05_grasshopper_collision_objects.ghx @@ -0,0 +1,4373 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + dda6c3bb-aea9-4b94-8919-59e8cba46d20 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 637965131115724216 + + 05_grasshopper_example.ghx + + + + + 0 + + + + + + 218 + 107 + + 0.443705469 + + + + + 0 + + + + + + + 0 + + + + + 1 + + + + + GhPython, Version=7.21.22208.13001, Culture=neutral, PublicKeyToken=null + 7.21.22208.13001 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + 40 + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Connect + + + + + """ +Connect or disconnect to ROS. + +COMPAS FAB v0.26.0 +""" +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 v0.26.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAAHWSURBVEhLtZQ9juJAEEa5AXMD9gZwA3wEbgARIXADHBBMgkCrlQghJGNuwNwAwslAIpkMh5v1fq/WzTaeYki8LT1hf/Xb3WUaIYT/iivWiSvWiSvWiSs6ZOJNPFuF2IgfwmKriTyW1+s1TKfT0G63FdF4SLfbDev1WiFWaEC8lzBlQvKYmF8KeYzH49Bqtcyv3+8r1FbHSxp5EQVdEZR09v4Nlhx/iqJ5iSODw+GQOh8FRT3fSEdYU81mU4++k3I2stVq9UFiCpxOp9Dr9ew54V3kolp0yW7x2e/3dwZDa4NxNpv9jgW4h+FwiE5C4PmITZzFbWpEbom9AloDDGJTFMXrbrczx/L8GdNH/hwfGrs5x3ugsWoA3ZzLd87TzpLpwFmLIj3Bd2GMRqNfWZaF7Xb7U+/HeG/cg1aRJn/BIPKoibe4CwotFgvb9iMY1ejLvWlN0gIdjGISNcGWjwTHGX8GnZfJ+aKl/EsmuzmZIYEiaIHtV7tOKRPzrdxOIU1EAZsgwfne2QSFOH+CDQZhPp9/5nkeLpfLUtqXuPuXv/dQlEUYx+wbmCCGAl/73/H4KmimBR8RL8+gmYfJwRVBi0Je5ze8uCquWCeuWCeuWCeuWB+h8Qe29eD9QdtraQAAAABJRU5ErkJggg== + + false + 4a1a934b-e413-4416-8a1c-cf65720e6e47 + true + true + ROS Connect + ROS + + + + + + 195 + 335 + 153 + 64 + + + 258 + 367 + + + + + + 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. + 9f64a461-e0bb-4c46-a6bc-5a408f883718 + ip + ip + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 197 + 337 + 46 + 20 + + + 221.5 + 347 + + + + + + + + true + The port of ROS. Defaults to 9090. + d0d0fe25-fd48-4b49-892a-0011f2f575b1 + port + port + true + 0 + true + 0 + 48d01794-d3d8-4aef-990e-127168822244 + + + + + + 197 + 357 + 46 + 20 + + + 221.5 + 367 + + + + + + + + true + If True, connects to ROS. If False, disconnects from ROS. Defaults to False. + 6d821635-b1e7-4148-8190-313ccdb6129a + connect + connect + true + 0 + true + 029d0009-dc73-46ab-8603-1f39dc276f38 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 197 + 377 + 46 + 20 + + + 221.5 + 387 + + + + + + + + The ROS client. + 0d753ee7-a7d5-4715-a944-be1cb92c2875 + ros_client + ros_client + false + 0 + + + + + + 273 + 337 + 73 + 30 + + + 309.5 + 352 + + + + + + + + True if connection established. + af7d2f8c-f694-468c-860f-341d54a62286 + is_connected + is_connected + false + 0 + + + + + + 273 + 367 + 73 + 30 + + + 309.5 + 382 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Robot + + + + + """ +Load robot directly from ROS. + +COMPAS FAB v0.26.0 +""" +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 v0.26.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAAFbSURBVEhLvZTBUcMwEEVTAiWkhJSQElICJVABkxIYLlxz4pwSUgIlpAQ6MP/Z+mZlrUM8GHbmjaXVarX+a3nTdd2fkjrXJHUuQfYgnnim65lzCbKzYPApDs16NRmqOYmLYOM+rkdkj+IqmPgJ7N2OcZNNLE437AXJjoG4zpjCtsL7P5oDSkC/KN7Ec5m/CMuQUcki24nxzacLDN4Fh7yWOQcgG+OMSkbZKE8/ryZDYgZ+wkFwCK9vaKjXezlkyIR8TK5jTg9KEG9hHUmC9lVFJQ45SeZCkDA2vJWobHRD3TRX1BxS4omLDSe+ug/Vht5Ry2Mu0zgjoxAKy4toHEOwE0dm78Qtcmf+1YyNW0LuHF47finmmMXfInUCyUJiw6HpT22O1Glk8Qsxpyx2jtRpZL9ueOsYbm1M9hPItpvmMa3j+yYvYbb5reMfDuBX4Z/avdwv0dqkzvXoNl8X2cTgqAi1xAAAAABJRU5ErkJggg== + + false + 498eb24a-c9a8-442a-8939-d4db6f976ea2 + true + true + ROS Robot + Robot + + + + + + 556 + 340 + 124 + 44 + + + 626 + 362 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ROS client. + 2a1fc9e9-94a2-49f8-b684-eef3f5575525 + ros_client + ros_client + true + 0 + true + 0d753ee7-a7d5-4715-a944-be1cb92c2875 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 558 + 342 + 53 + 20 + + + 586 + 352 + + + + + + + + true + If True, loads the robot from ROS. Defaults to False. + 4dc2e4b7-c30d-496c-8480-e32e7e52b5d3 + load + load + true + 0 + true + ef1c073b-2b46-4fc4-8bf3-e0be8dcd1630 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 558 + 362 + 53 + 20 + + + 586 + 372 + + + + + + + + The robot. + 68797eb9-62a4-4a42-a521-246d96dfd8ed + robot + robot + false + 0 + + + + + + 641 + 342 + 37 + 40 + + + 659.5 + 362 + + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 029d0009-dc73-46ab-8603-1f39dc276f38 + Boolean Toggle + Toggle + false + 0 + false + + + + + + 40 + 376 + 104 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + ef1c073b-2b46-4fc4-8bf3-e0be8dcd1630 + Boolean Toggle + Toggle + false + 0 + false + + + + + + 406 + 361 + 104 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Planning Scene + + + + + """ +Create a planning scene. + +COMPAS FAB v0.26.0 +""" +from ghpythonlib.componentbase import executingcomponent as component +from scriptcontext import sticky as st + +from compas_fab.ghpython.components import create_id +from compas_fab.robots import PlanningScene + + +class PlanningSceneComponent(component): + def RunScript(self, robot): + key = create_id(self, 'planning_scene') + if robot: + st[key] = PlanningScene(robot) + return st.get(key, None) + + Create a planning scene. +COMPAS FAB v0.26.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAAGJSURBVEhL1dU/S8NQFAXwIIiICG4idcigQyfr4J7JwamDH0D8BC0ITkJHF6Uggm6tbuKgkw4OVeofELEidHASLHZtnQSH67mx7/GaHK2UOBj4EXpe7r1p8mg9EflTNEwSDZNEwyTRkJncrPqQg0rn7LPromhooEkGClADITT/cRgNjZ3bhiwf11ljS9f3Hpp1Vq9oaGiDxYNHKddeoWmH6dlk8/v3EpTuGqxe0dBw7zS9fS350ydpv3+EZ3fNL15WWb2ioeE2Ma5eWrEMKqxe0dAgjf7bgI2Lt2gzNiC1fnbD6hUPPW8MCgPDo+2RuQWZWDu0zdwB4ysl0XVcq4paF+sVCzwvC89gCkNDU7Mys7or5ZNzSee3ZDA13bXe0YJcVz+ncQYq4Bb0qwaBHYBD79q9ICmB+w0C0MnRi/pxBOHvkx3gDFoCfZZuwW/puwsfje3nfrDh1y7SXeEW/yT2cm0vFho4fOj14un2NGgYhUPfT3Tr6uCefzo0/A6OHOhGyLJ1hobJEe8TjeBiI74N1WoAAAAASUVORK5CYII= + + false + 852f6880-651f-4915-9242-c89acfde22ba + true + true + Planning Scene + Scene + + + + + + 575 + 424 + 105 + 28 + + + 626 + 438 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + 429fdbc7-c800-467e-8127-8279c9641395 + robot + robot + true + 0 + true + 68797eb9-62a4-4a42-a521-246d96dfd8ed + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 577 + 426 + 34 + 24 + + + 595.5 + 438 + + + + + + + + A planning scene. + 023fde0f-bc09-4663-b5c9-4a121205fedb + scene + scene + false + 0 + + + + + + 641 + 426 + 37 + 24 + + + 659.5 + 438 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Attached Tool + + + + + """ +Attach a tool to the robot. + +COMPAS FAB v0.26.0 +""" +from ghpythonlib.componentbase import executingcomponent as component +from compas_rhino.conversions import RhinoMesh +from compas_rhino.conversions import plane_to_compas_frame + +from compas.geometry import Frame +from compas_fab.robots import Tool + + +class AttachToolComponent(component): + def RunScript(self, robot, visual_mesh, collision_mesh, tcf_plane, group): + if robot and robot.client and robot.client.is_connected and visual_mesh: + if not collision_mesh: + collision_mesh = visual_mesh + + c_visual_mesh = RhinoMesh.from_geometry(visual_mesh).to_compas() + c_collision_mesh = RhinoMesh.from_geometry(collision_mesh).to_compas() + + if not tcf_plane: + frame = Frame.worldXY() + else: + frame = plane_to_compas_frame(tcf_plane) + tool = Tool(c_visual_mesh, frame, c_collision_mesh) + + robot.attach_tool(tool, group) + + return robot + + Attach a tool to the robot. +COMPAS FAB v0.26.0 + + 26 + 26 + + + 558 + 571 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAP4SURBVEhLnZT9T1NXGMeLMJ2/MP8Is6Bu01RgwJCX0W1tYSLtShEqslhwxs0IDKwprQouM4vL4kiWhSVkW/bDNl8AIW6ZWHkJqAPdxL5QkFIpsgqdi/Olk9ue7557TU1f7qjsh0/uPc+5z/d7z3mecyQA4rLomk6Y2teQJDYXD9FgNJ5G84SnwXTPc+KL58Xml0I0GA4JJxB+m0IF+7aysXFV+RZ6F/1WDNFgOCT+HPG3XVkKe6GGcxSXcc7SSs+zmogGwyFxieeAeYA1dzPW0g00d8NepGFTe+tvegyHz3sOHBLNCyEaDEcwIGDuArgg+OcNWUnwmlzFkXg7bzDx8acr5k53rRXLjwmIwRuwj3oYzJ3CCn5Nz2c29Y69JL5mLEuWMJqaoxjclLnPNziUEp0bMVgSU6fEUbm7a/i1NxeGMgryZz9oSOTrMFmkSZyr0HcNp0g5a52hPTovYrAkZEArSbrT2rbGU29cRX+/2lFZk3TzvdoRl7bqr9+zZLiUr5x54JxcHZ4XKRKHCymbBXhxYqW79mDrcJYsMK3TB6x5Sgxnvo5btQd7wzssQiAeoYKTQPJMvfHb/o3ZCJo6wI79BHb4LC5lFoDa+DHNrwqZxIg8C5T82WT5LnZDuR042gMEqbvI5EqOHI6S7Qs0/8L/NqDEBmLeqdZxVrmGwdgBHDkL1tSJMYWasxe+46X5lcs1WMc47sjtT05M2JTqP8eLyx65K6ofundUY17fiN/kWozkFcGqUPHbI+XFl2tQ99h8BtRJYLTn3p31gVvad4X9Dx47B7/pJHrXb8ad8xYpbZMgvlwDA+MPGZ1kRiaz2hrMlFZBiC3cB6M6zHz9nY4XDxmEcsNFYvDbx5PpHvrcV2dsoxUwrrkTAfrr64pSXE7LFd75VXHmDsZ/HzII14gYhOMfurz2j1pDm1u2FbYcBayybZiu2IORXAUsKVIMSLPh1L9/93bL8bS7h04miGnwxAQeudyJE3WGttkK/S++ihrMle8S9p0d7UaA6nDhxU24+NKrGJWr3FON5iI6Fyv4Uy4QpcUTE5j/6pudnOkMGN96tHx35YdCMeG9B3b8Z1jWp+Hiyxm4VqjxXlWoJfT3T4nW4okJeHfv/x50KuFfRKDpNKZ0+/FP0ylhr/3GH2HZkM5ImCMe8gbC1cFf51E6ISIGvi/bq6ffKrEFmp60ZIBWMpKnAIlgIDUHfRszsWg8xRgVlb5h/7Ut4Tx9uW93JA+m5y7YC96Gr2oPXGodbAo1rmS/IRj0bUiHZV0qC7b2Am4f1YM6ZzkGD6glr9ON6Couw2i+En2pW+DcqsVV6pp+2vP+VzIEI7/xB6Cl50ld4hpA8i+7qidKHFrjTAAAAABJRU5ErkJggg== + + false + 890cdb7c-c7b2-4687-b04f-0b544a15574e + true + true + Attached Tool + Tool + + + + + + 1191 + 350 + 148 + 104 + + + 1285 + 402 + + + + + + 5 + 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. + c917bb4b-5dbb-4b0a-b5ee-44950fff9de6 + robot + robot + true + 0 + true + 68797eb9-62a4-4a42-a521-246d96dfd8ed + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1193 + 352 + 77 + 20 + + + 1233 + 362 + + + + + + + + true + A visual mesh for the tool. + 17955500-9159-44e9-bdab-85f6687ddbb1 + visual_mesh + visual_mesh + true + 0 + true + 60bb0bf1-f87e-41a9-ada6-7df682319a90 + 1 + 794a1f9d-21d5-4379-b987-9e8bbf433912 + + + + + + 1193 + 372 + 77 + 20 + + + 1233 + 382 + + + + + + + + true + A collision mesh for the tool. + 57f36973-572f-4a09-a999-fe6839994d6c + collision_mesh + collision_mesh + true + 0 + true + 0 + 794a1f9d-21d5-4379-b987-9e8bbf433912 + + + + + + 1193 + 392 + 77 + 20 + + + 1233 + 402 + + + + + + + + true + The frame of the tool in tool0 frame. + 01fbf88f-7e33-4586-8305-4d6ac4634a83 + tcf_plane + tcf_plane + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1193 + 412 + 77 + 20 + + + 1233 + 422 + + + + + + + + true + The planning group to which the tool should be attached. + 8ba5ac1e-63c8-45cc-9a7b-06204558d2d6 + group + group + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1193 + 432 + 77 + 20 + + + 1233 + 442 + + + + + + + + The robot. + 6aba93e5-b4bb-4923-abc7-5a428d5efa8b + robot + robot + false + 0 + + + + + + 1300 + 352 + 37 + 100 + + + 1318.5 + 402 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Attached Collision Mesh + + + + + """ +Add an attached collision mesh to the robot. + +COMPAS FAB v0.26.0 +""" +from ghpythonlib.componentbase import executingcomponent as component + +from compas_rhino.geometry import RhinoMesh +from compas_fab.robots import AttachedCollisionMesh +from compas_fab.robots import CollisionMesh + + +class AttachedCollisionMeshComponent(component): + def RunScript(self, scene, mesh, identifier, link_name, touch_links, add, remove): + attached_collision_mesh = None + if scene and mesh and identifier and link_name: + compas_mesh = RhinoMesh.from_geometry(mesh).to_compas() + collision_mesh = CollisionMesh(compas_mesh, identifier) + attached_collision_mesh = AttachedCollisionMesh(collision_mesh, link_name, touch_links) + if add: + scene.add_attached_collision_mesh(attached_collision_mesh) + if remove: + scene.remove_attached_collision_mesh(identifier) + scene.remove_collision_mesh(identifier) + return attached_collision_mesh + + Add an attached collision mesh to the robot. +COMPAS FAB v0.26.0 + + 26 + 26 + + + 558 + 571 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAAG4SURBVEhLtZO/S0JRFMfdIlqEpqBBoqVBsK2GoCloCYegMf8EHVtKaA8hEocIIYpokMaGIIfoBwYJCkFECDqUk0RrnL7fl/d23+uIJq8DH3jn+979nnvPOzciIv+KKoaJKoaJKoaJKoaJKpLJnasoSIEsSGrfDIIvgVEMpEEZSIAOKII/FfMlJ/W3g42LZ5nbrwTNPZYOH6Rw35LSY3vNXYeIgiJYdHXvnZssH1WLM3s3kjl/kuPaq2xdvsjqaU1275pSqLS8At1i1oimoAyYEBaK2vfmgWAh+213zJPU2x82N4zNr9AkC866piQJ0qADGgMVINfNji8nI9OzxtRQtobf7fo5oXkgWDxsgQbw2oLwTmY8hyoAvB0i2P8cYML/wEJ8zhrPYAGOKUfRmrkFJjZLn+Pr2xxh+xMJIgXYexZJ+N65iYEGIB3P376zwFQmL6PxBToRGsW0dRqqGARh2mCwPe6HKgZBcDK4c7fIr0uloYoaCPbZLVDVvguiikEQCcCJMVNi4EhS73kaVXRB8Ia6pr3Iqes10QXBXbpGvbC32bdeE10QbA/nux8pdb0mhokqhodEvgBXEJju+phgNQAAAABJRU5ErkJggg== + + false + 4053da4a-2327-42d7-8cc9-28c183960b5d + true + true + Attached Collision Mesh + ACM + + + + + + 1224 + 896 + 222 + 144 + + + 1302 + 968 + + + + + + 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 planning scene. + 2e4da8ec-1447-49fb-bd31-2be458dbc123 + scene + scene + true + 0 + true + 023fde0f-bc09-4663-b5c9-4a121205fedb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1226 + 898 + 61 + 20 + + + 1258 + 908 + + + + + + + + true + A collision mesh. + 0f2fce20-1073-4e03-9490-52730e4b911f + mesh + mesh + true + 0 + true + fb96cc69-4e0a-44c0-954d-324ccdcba70f + 1 + 794a1f9d-21d5-4379-b987-9e8bbf433912 + + + + + + 1226 + 918 + 61 + 20 + + + 1258 + 928 + + + + + + + + true + The identifier of the collision mesh. + 033c631e-2094-44fc-9ba3-7f58129c8586 + identifier + identifier + true + 0 + true + d2173b4a-9de4-40cc-af6b-333d79a04a94 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1226 + 938 + 61 + 20 + + + 1258 + 948 + + + + + + + + true + The robot's link name to attach the mesh to. + 448529c9-50b6-4215-b3f3-90e7a41d8c97 + link_name + link_name + true + 0 + true + 7807c1c9-5064-44f7-8831-0e95c2d1f05c + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1226 + 958 + 61 + 20 + + + 1258 + 968 + + + + + + + + 1 + true + Names of links that the robot is allowed to touch. + ea6633f5-98b7-4308-9cd9-c46b60d6e6f4 + touch_links + touch_links + true + 1 + true + 7807c1c9-5064-44f7-8831-0e95c2d1f05c + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1226 + 978 + 61 + 20 + + + 1258 + 988 + + + + + + + + true + If True, adds the collision mesh to the planning scene. + d686854c-4772-42a7-a80e-736784095802 + add + add + true + 0 + true + 89d7b441-8a3f-4c38-98f1-4c9fd3a914d2 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 998 + 61 + 20 + + + 1258 + 1008 + + + + + + + + true + If True, removes the collision mesh from the planning scene. + 81947a27-fe87-4fb0-ba9a-164c84646849 + remove + remove + true + 0 + true + 398e1b3c-d787-4dc6-b78f-5c1dd777df55 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 1018 + 61 + 20 + + + 1258 + 1028 + + + + + + + + A collision mesh that is attached to a robot's link. + 520a1e9d-e9fe-4bda-8def-b0f221363072 + attached_collision_mesh + attached_collision_mesh + false + 0 + + + + + + 1317 + 898 + 127 + 140 + + + 1380.5 + 968 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 87f56c71-61bd-4a57-bcb3-c732c17e7ea4 + Point + Pt + false + 0 + + + + + + 1483 + 392 + 50 + 20 + + + 1508.861 + 402 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0.337810202698484 + 0.237583330362025 + 0.275033016781564 + + + + + + + + + + + + + + 17b7152b-d30d-4d50-b9ef-c9fe25576fc2 + XY Plane + + + + + World XY plane. + d44b564f-2a74-426a-af33-9c95ad0866cd + XY Plane + XY + + + + + + 1553 + 387 + 65 + 31 + + + 1585 + 403 + + + + + + Origin of plane + 144eb6ad-1cad-4dd1-8a3c-9ed9f46e641f + Origin + O + false + 87f56c71-61bd-4a57-bcb3-c732c17e7ea4 + 1 + + + + + + 1555 + 389 + 15 + 27 + + + 1564 + 402.5 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0 + 0 + 0 + + + + + + + + + + + + World XY plane + 55c23c26-fa82-4f06-ba20-65050916d0a5 + Plane + P + false + 0 + + + + + + 1600 + 389 + 16 + 27 + + + 1608 + 402.5 + + + + + + + + + + + + c73e1ed0-82a2-40b0-b4df-8f10e445d60b + Flip Plane + + + + + Flip or swap the axes of a plane + ff60154a-4c30-43e8-a79b-ca8aa18deb1c + Flip Plane + PFlip + + + + + + 1640 + 390 + 64 + 84 + + + 1671 + 432 + + + + + + Plane to adjust + 9fe13d1a-d7d3-4014-89fb-296d9a1f5504 + Plane + P + false + 55c23c26-fa82-4f06-ba20-65050916d0a5 + 1 + + + + + + 1642 + 392 + 14 + 20 + + + 1650.5 + 402 + + + + + + 1 + + + + + 1 + {0} + + + + + + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 1 + 0 + + + + + + + + + + + + Reverse the x-axis direction + 867683e9-683e-4c69-b324-1cc07cfe1d0c + Reverse X + X + false + 0 + + + + + + 1642 + 412 + 14 + 20 + + + 1650.5 + 422 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + Reverse the y-axis direction + 91b38fbd-f065-4ca1-ba8d-d2ae79e934d4 + Reverse Y + Y + false + 0 + + + + + + 1642 + 432 + 14 + 20 + + + 1650.5 + 442 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + Swap the x and y axis directions + d26efde5-016e-41ce-b1f1-0270466f2a7f + Swap axes + S + false + 0 + + + + + + 1642 + 452 + 14 + 20 + + + 1650.5 + 462 + + + + + + 1 + + + + + 1 + {0} + + + + + true + + + + + + + + + + + Flipped plane + c7e688b2-7437-46fd-a31c-fec66f177c69 + Plane + P + false + 0 + + + + + + 1686 + 392 + 16 + 80 + + + 1694 + 432 + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Inverse Kinematics + + + + + """ +Calculate the robot's inverse kinematic for a given plane. + +COMPAS FAB v0.26.0 +""" +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 v0.26.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAAGBSURBVEhLtZSxccMwDEVVp/IAKTSCigzgLm26pNQIHkET+DSCRtAIKjKAqtQaQRsw/8sADZGwLd3ZuHsn8JMARBJSEUJ4Ka74TFxxC+/n39LTU1xRQZIajCAIM+jBt/gHL87iigyUREw6gRY0oBNNOXnxFldEIBMyQZfoLPwnc2S08x6ZgKBKgnvVYDVo3j4+f6BzJ9wdd8Z1d+8iEyRBDIR9ATrK6liwbrkH2BFUdm7RUwEBA5h0DGsAnck8mcwmHgAHhH68/FVyguTL9nUM6yRQC1g8jbQxXh0FydMjsm83A97HCVid2J0Mms8rUEqB5ZJhugM+V30PYzE6LGyL3i5AkJxtqgUYPKdrZO4g8xxYYiNkQRaYvmFs2RRYBUZZx2LNat4OUmC9BNbe/BZckcC4fTok6++t+OIluV6ue/5byYWiKIGeqbLp1+yRC9dWsx9R/HD2kgvXxPxFtOLHvt5LLuTHQ2626SNy4dLX9uOh/5Iu4r/l6M3vwRWfRyj+AbsLc3z7FG5SAAAAAElFTkSuQmCC + + false + 974fa5e3-5f53-4134-aa9b-3465cdde2791 + true + true + Inverse Kinematics + IK + + + + + + 1738 + 400 + 207 + 84 + + + 1853 + 442 + + + + + + 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. + f23fe8d5-279d-4ce0-8151-0ec166806c1b + robot + robot + true + 0 + true + 6aba93e5-b4bb-4923-abc7-5a428d5efa8b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1740 + 402 + 98 + 20 + + + 1790.5 + 412 + + + + + + + + true + The plane or frame to calculate the inverse kinematic for. + 99347c96-395f-4e8d-8c57-f56612028cee + plane + plane + true + 0 + true + c7e688b2-7437-46fd-a31c-fec66f177c69 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1740 + 422 + 98 + 20 + + + 1790.5 + 432 + + + + + + + + true + If passed, calculates the inverse such that the joint positions differ the least from the start_configuration. Defaults to the zero configuration. + abb6f00c-83d4-4f2b-ab71-638684d35b94 + start_configuration + start_configuration + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1740 + 442 + 98 + 20 + + + 1790.5 + 452 + + + + + + + + true + The planning group used for calculation. Defaults to the robot's main planning group. + be6dbc63-e36b-48a9-b2e8-b91b93721faa + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1740 + 462 + 98 + 20 + + + 1790.5 + 472 + + + + + + + + The planning group's configuration. + c9f47e00-5d45-45f8-a18f-db6bfe015c13 + configuration + configuration + false + 0 + + + + + + 1868 + 402 + 75 + 80 + + + 1905.5 + 442 + + + + + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + true + 60bb0bf1-f87e-41a9-ada6-7df682319a90 + Mesh + Mesh + false + 0 + + + + + + 1105 + 372 + 50 + 20 + + + 1130.161 + 382 + + + + + + 1 + + + + + 1 + {0} + + + + + + Y2BkYGD4DwQgGgR4mIBEeFBGZl6+c35ubn6ejkJYalFxZn6erbmekaGekZGRgYWeobGBgaGOgnNpTklpUaptXmppSVFijo5CQGlSTmayd2plSH52ap6tqamRkYVhqqV5srmpqamxASvIFmGw4Xruqfm5qSVFlXq+qcUZLEBx9jKIPVyJRckZmWWpxim5nPkFqXl5pUVJxSwpiSWJIEUcHBxMICcKqDMw2ADpzMaQPk5mIIMfRLSwMzAw/apnYqhgh3jn938mBhGo155cue7n/vKy4P6nDALNjEofdHdKx/wByjtA1Vo4Awk9IL4kazxv74+n/3HRQQE350bNXLT/Aas1p5z5WXsY38c82zcmeLc9Axq4dkpkLwizb79oAaRtQTjg/C1bBoYGeyS8HwmjiMHihgHEYAES7CzMzFzsbGy8XJycArw8PMIC/PxiwkJCkmKiojKSEhLyMtLSSvJycqpKiooaqioq2hrq6nraWlqGerq6LKxMjFzcHOzsHKwsAoJ8vGLiIsLCIoICvHzcXJJS4mLyCrIyqmrKSkrKCvLaOpoahkb6enr6OtoammqqMrJSknY2trbWNnZ2dmaWlpZW1tZ2ltbWFpbm5vYOdnZODo6OJg5OTsYmTk7mlmZmZiampnYmQMrOwUEFGD+sOzJkGBkaGByUoF6quJU7aaEfs6OIq/nCRUum8Wvo7Fq5QuHm9vsMi1Y6Jv5kkJGz2ZXU/FJcwWqzfEPm7C3LVq1VWela/N7gUVp6mG3hkZvFyzX+7f99dd+92nqJ998eCX4PtZW/N+3v+rOximdO7I/c+SNykuTPuli9ebHTX56Ve/PBqjSlarPpu9xDPmzHX13Zx55mVLEpuPrl7jM1Pyp5lx848JTNj9NZ3IK1Ta/AS2LXAU2DksbgR0CB1v+LuOcItel9yEiS59+vdvn4wZVdtTZzdICMk0nyd6JPf4k8BGSwL991es5xfV5z5WK5/2Z3dC4vf5S2sb9ws4/8YwTtf0Pnsvrvui/XzBfnO99vyFs7+1XZrol5C89uXWt2JeyWy//Y/x/5m0INtArv8bCCgi2Sc1o6ONjmMcCCbbZoZMp5BpZ38dNunHVK3h95cxUX0Bly6f+9s/7b1bw5u9rkrWpl6ffHycY7crev7vY7cJrt1kqmLdL60inqF/L25EyY67D74ybHMqa399r7eTd9Put1bemPGwrWjWW3HyY3v2G5ldsPFBbOMI/7ttiqf+mCHQePs93k7JKuAepE4jwpaeo+y8DO+7tdSZrhcJHF33QVVicJYP4Ubyo4BXayIzymdSfqe7A4irSfL/Hly41KaX7YdGhhQfmbPTetHXUe7V/XLc6zSGx3R/WK7Y4GGTtsI/QinpxSa058alJxMOliWiBLswTL7V91+Wmn2OWN5Y3z93xWnfs41FqPo3m/XqPc75nnlVn5DzV/6H2r2MT+0PHHkpedICqmRkFuip1wXYVAN5B72TNXfevckD+nT8yuEJAz+Xvmm/Ht80eei3NLybWwLw2eI8Dv1c65/7OxLohbv/ho86V0r/qym19mXkqfVf1r2XmT7198/5eeB/Fv/cywls99vri5aPr9Rxf+hc620+KVqrdf+sNqyaObbLa1riJTZCuz11eur3ot2JrounbOlhd6H+/8W+r/TF9WavX6XZ9382ctjA2fHB1aers+5Ly4qfjzjctNtnruv2pabiIf9LzAr3a6UpYq81f+3NPnHqldP6+IXKAcWtaxc1nictdV72a9rfvyWMwAWH62zZ5fBw7xDkTemmDr4RQo0RYrVcQprrxIQWS7mGzLJLuOaQdcuqS0TizdJH/9wJKtJ7NWGhw+qNCu1NRl5Ffma8R5eaWiokrHv2jlVQsPVN/j7yvZ/vzTnveVP3na/ttvL16VviN/doiYyE2jyL6c7j/yPPGpjv7Ozxblqh6zk9h3qumelM5JaeemWoOaqax3r265bmZdfoP9cHhkQPqn75VXth8HK4rTfi+7ib9t/aYFx3fF3j//y/B3wg+t5PpVWSDU9TdjjcVn2+lpYLMZ+9e/+ZACNuJCSvmhebk26WDxf+u+/2ycrgPSyG3Ua1I792nxm+aHq3VeLCxa7/3t4IdQsZL8PxYc/k9uArVKftcPubs/oPQ/0++994JyCnKb/267+ffy2V8Wsf27l6/9yx3CJ+KUmTxl2t6D/htFlobttzS5JrTMx+DtjtJjlu3ztG2Xl56Qm3n5QvHC5yar30y09M3/uDOmyk/7JFBQadPxdc9NftoVqb84efLui8ipuy82333xk9nHvb36q4zPAVCcLEEqwBmxRGBaNfM/iIoPGLUHdkC8Ol1nmdePzKQIqP9gD3LXr9nT7jJC088CUJWGRDM8hBgC4iPTD15G7ravOyNR8r+eqQFmHDdxrhsFo2AUjIJRMApGwSggCAA= + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + true + 39692b79-3a00-4d8a-8333-0b468bc5ef1d + Mesh + Mesh + false + 0 + + + + + + 723 + 540 + 50 + 20 + + + 748.8106 + 550.1003 + + + + + + 1 + + + + + 1 + {0} + + + + + + Y2BkYGD4DwQgGgR4mIBEeFBGZl6+c35ubn6ejkJYalFxZn6erbmekaGekZGRgYWeobGBgaGOgnNpTklpUaptXmppSVFijo5CQGlSTmayd2plSH52ap6tqamRkYVhqqV5srmpqamxASvIFmGw4Xruqfm5qSVFlXq+qcUZLEBx9jKIPVyJRckZmWWpxim5nPkFqXl5pUVJxSwpiSWJIEUcHBxMICcKqDMw2ADpzMaQPk5mIIMfRCwBEky/6pkYZjBDvPP7PxODCNRrT65c93N/eVlw/1MGgWZGpQ+6O6Vj/gDlE6BqLSSABAcDOvhgj4s/Zff5aXdWCDjA+EGX7/zv/7nSHia+5OXzkHvN7+25Cwz2L4y/uK8h9vKeV4737I7e4rEX235xBwNDgz0S3o+EUcRgccMAZjAxM7KwsbNycHFz8vDx8woKCAsLCwkKioqLiIiLiokpABUphCVdY2RoYHDwg2qsuPVYy+BG/ROx/r0/vnVb71jw5teN09VxVvc2N3cevtFyRPxI/B12YfaNHzub3zSBRTbuFI6UuZv74tmDT8qbrCfeZUhiZjAsnPVQmyntP8iKmbsX+oKtMIRbkZyQkMGgVM3GodDEK648iffabnkn4cNslw3Wumx4+OttZ8rkhLLDdQx+xxRfZle8ijoA1HS4v2AS2BRfJFMcGC739nzb9Ci2TMGs49gxdqO3C0+93fjx947YgzUCvb3nD1xgCL3PcJk/zflN44VtAYUCsV+Onrontuq82Lr9jDp8ixgtJyp9d1e3gJkJBoeWdexclrjcddW7WW/rvjwWawD6IXGphgrY9lIk2w/w2d2t/r1ZqWDa3+dn5uf/rK/b0t55+MeRU/43a+tuzRXl4TOolJgf8XNfk/FeTW/Lh58M7DZ+EvjMcuGMeMPpw0ea9e7/vP+/WPWO/Yua6c+nzl494crhH7/axWZKthVZHPhh8PniT4PPCa8SaxievFkpbai8oAnkgCVIEcyIxbVp1cz/sKdGXID66kDuWp6vtIgRmhwdGPme7QcxvmjfAtEP1mfPAtEKtidugwxtiJj9EEQ/eGQmtd/3rdnt//VMDTDjuImzdRSMglEwCqgGAA== + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + ffafe9d7-fc42-4046-b08f-e8eb7f93b658 + Panel + + false + 0 + 0 + table + + + + + + 723 + 560 + 56 + 20 + + 0 + 0 + 0 + + 723.6606 + 560.1003 + + + + + + + 255;255;250;90 + + true + true + true + false + false + true + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 34d0c928-ce8b-468c-b6e8-25231d9c557e + Button + Button + false + 0 + + + + + + 948 + 579 + 103 + 22 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 116821f0-66f4-4df7-a45c-b5a7fec7cdf4 + Button + Button + false + 0 + + + + + + 836 + 599 + 103 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Collision Mesh + + + + + """ +Add or remove a collision mesh from the planning scene. + +COMPAS FAB v0.26.0 +""" +from compas_rhino.geometry import RhinoMesh +from ghpythonlib.componentbase import executingcomponent as component + +from compas_fab.robots import CollisionMesh + + +class CollisionMeshComponent(component): + def RunScript(self, scene, M, name, add, append, remove): + ok = False + if scene and M and name: + mesh = RhinoMesh.from_geometry(M).to_compas() + collision_mesh = CollisionMesh(mesh, name) + if add: + scene.add_collision_mesh(collision_mesh) + ok = True + if append: + scene.append_collision_mesh(collision_mesh) + ok = True + if remove: + scene.remove_collision_mesh(name) + ok = True + return ok + + Add or remove a collision mesh from the planning scene. +COMPAS FAB v0.26.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAAFuSURBVEhL7ZUxboNAEEXduCY+AakpQgp6U9HaZTpyAyL5AE5JZykXIBUtuQEUqUOkNGkicgP7Bpv/Nwbtwjg4kdP5S09eZmfm7yBrmSil/hUxeErE4CGgENyDW3Ah5fQRgybQEjyCHWDApAJ34FKqJcMATgZ4widgNhvjFXC6a6tfu8jz/Mr3/Xej4M/MZrPdarV6sAxAuN1uVZZlarFYDIqOwXVdlSSJapoG7VTFvp1BFEU38/lcG9DoWLO2aV3XbKp/4zhWQRB8sG9nAPEfooscx9FJZVmyRpttNhuFVyg25Ym5z3jbYzqdPmMLK8HAhEUs3o9tqSiKnya0XxEkGphwKoqTcUopx+D3BoRar9fiXo+zgbxvcDaQ9w1sA/3wfYt+7hNEqBEDXuu83vUVbhm0QJyGSWahhjpgwIMNPkTdQoLJgHd8NxXVM+BBwramjxiUgJae571hXaVp+oKrIkVs9LMpBk+JGDwdavIFCdRgYZL/CZkAAAAASUVORK5CYII= + + false + 0593fb99-e39d-4782-a099-8afbb62fb880 + true + true + Collision Mesh + CM + + + + + + 1224 + 518 + 106 + 124 + + + 1291 + 580 + + + + + + 6 + 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 planning scene. + 4b21dbc0-949b-40b8-9845-7a74fd78f616 + scene + scene + true + 0 + true + 023fde0f-bc09-4663-b5c9-4a121205fedb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1226 + 520 + 50 + 20 + + + 1252.5 + 530 + + + + + + + + true + A collision mesh. + b364b994-1d63-4623-8e8e-ec653874c435 + mesh + mesh + true + 0 + true + 39692b79-3a00-4d8a-8333-0b468bc5ef1d + 1 + 794a1f9d-21d5-4379-b987-9e8bbf433912 + + + + + + 1226 + 540 + 50 + 20 + + + 1252.5 + 550 + + + + + + + + true + The identifier of the collision mesh. + 10c199ba-648b-43e2-aff2-0772a6fc3df8 + identifier + identifier + true + 0 + true + ffafe9d7-fc42-4046-b08f-e8eb7f93b658 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1226 + 560 + 50 + 20 + + + 1252.5 + 570 + + + + + + + + true + If True, adds the collision mesh to the planning scene. + a0821d77-7630-4c17-bb30-53d00b25fd12 + add + add + true + 0 + true + 34d0c928-ce8b-468c-b6e8-25231d9c557e + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 580 + 50 + 20 + + + 1252.5 + 590 + + + + + + + + true + If True, appends the collision mesh to the planning scene. + 0c676cd8-55e9-4e94-b5f6-5eba56505191 + append + append + true + 0 + true + 116821f0-66f4-4df7-a45c-b5a7fec7cdf4 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 600 + 50 + 20 + + + 1252.5 + 610 + + + + + + + + true + If True, removes the collision mesh from the planning scene. + bda13246-c1c4-40ea-97f1-c4815715f7e7 + remove + remove + true + 0 + true + af14dac5-9e8a-408b-9fe1-432389324846 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 620 + 50 + 20 + + + 1252.5 + 630 + + + + + + + + True if the operation was successfully performed. + 53ae6807-7436-4781-8bc3-d111d6853037 + ok + ok + false + 0 + + + + + + 1306 + 520 + 22 + 120 + + + 1317 + 580 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + af14dac5-9e8a-408b-9fe1-432389324846 + Button + Button + false + 0 + + + + + + 723 + 619 + 103 + 22 + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + true + 76e9a544-9ebc-433f-92f8-55737c25b332 + Mesh + Mesh + false + 0 + + + + + + 724 + 719 + 50 + 20 + + + 749.1606 + 729.2504 + + + + + + 1 + + + + + 5 + {0} + + + + + + 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+ + 00000000-0000-0000-0000-000000000000 + + + + + + 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+ + 00000000-0000-0000-0000-000000000000 + + + + + + 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+ + 00000000-0000-0000-0000-000000000000 + + + + + + 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+ + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 25a75d7f-140e-4b93-ab78-90fe58cfd259 + Panel + + false + 0 + 0 + brick + + + + + + 724 + 739 + 56 + 20 + + 0 + 0 + 0 + + 724.0106 + 739.2504 + + + + + + + 255;255;250;90 + + true + true + true + false + false + true + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 796e1e55-0027-4740-941c-130ba0dc6ac9 + Button + Button + false + 0 + + + + + + 948 + 758 + 103 + 22 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 8760616c-f4d0-491f-b9b7-2997f3f3a597 + Button + Button + false + 0 + + + + + + 836 + 778 + 103 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Collision Mesh + + + + + """ +Add or remove a collision mesh from the planning scene. + +COMPAS FAB v0.26.0 +""" +from compas_rhino.geometry import RhinoMesh +from ghpythonlib.componentbase import executingcomponent as component + +from compas_fab.robots import CollisionMesh + + +class CollisionMeshComponent(component): + def RunScript(self, scene, M, name, add, append, remove): + ok = False + if scene and M and name: + mesh = RhinoMesh.from_geometry(M).to_compas() + collision_mesh = CollisionMesh(mesh, name) + if add: + scene.add_collision_mesh(collision_mesh) + ok = True + if append: + scene.append_collision_mesh(collision_mesh) + ok = True + if remove: + scene.remove_collision_mesh(name) + ok = True + return ok + + Add or remove a collision mesh from the planning scene. +COMPAS FAB v0.26.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALEQAACxEBf2RfkQAAAW5JREFUSEvtlTFug0AQRd24Jj4BqSlCCnpT0dplOnIDIvkATklnKRcgFS25ARSpQ6Q0aSJyA/sGm/83Bu3CODiR0/lLT15mZ+bvIGuZKKX+FTF4SsTgIaAQ3INbcCHl9BGDJtASPIIdYMCkAnfgUqolwwBOBnjCJ2A2G+MVcLprq1+7yPP8yvf9d6Pgz8xms91qtXqwDEC43W5VlmVqsVgMio7BdV2VJIlqmgbtVMW+nUEURTfz+Vwb0OhYs7ZpXddsqn/jOFZBEHywb2cA8R+iixzH0UllWbJGm202G4VXKDblibnPeNtjOp0+YwsrwcCERSzej22pKIqfJrRfESQamHAqipNxSinH4PcGhFqv1+Jej7OBvG9wNpD3DWwD/fB9i37uE0SoEQNe67ze9RVuGbRAnIZJZqGGOmDAgw0+RN1CgsmAd3w3FdUz4EHCtqaPGJSAlp7nvWFdpWn6gqsiRWz0sykGT4kYPB1q8gUJ1GBhkv8JmQAAAABJRU5ErkJggg== + + false + 59062c84-7b04-49a3-8312-e58bfdff2e99 + true + true + Collision Mesh + CM + + + + + + 1224 + 697 + 106 + 124 + + + 1291 + 759 + + + + + + 6 + 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 planning scene. + f1fcaa4b-3d18-4285-bde7-e61d1501ae04 + scene + scene + true + 0 + true + 023fde0f-bc09-4663-b5c9-4a121205fedb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1226 + 699 + 50 + 20 + + + 1252.5 + 709 + + + + + + + + true + A collision mesh. + 64125a07-ef6c-43d2-ae56-2c4757807c9d + mesh + mesh + true + 0 + true + 76e9a544-9ebc-433f-92f8-55737c25b332 + 1 + 794a1f9d-21d5-4379-b987-9e8bbf433912 + + + + + + 1226 + 719 + 50 + 20 + + + 1252.5 + 729 + + + + + + + + true + The identifier of the collision mesh. + ee7c29f8-7d02-4348-a544-477325c0f535 + identifier + identifier + true + 0 + true + 25a75d7f-140e-4b93-ab78-90fe58cfd259 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1226 + 739 + 50 + 20 + + + 1252.5 + 749 + + + + + + + + true + If True, adds the collision mesh to the planning scene. + 3fba368e-ec02-4543-99b0-60f5597dabc1 + add + add + true + 0 + true + 796e1e55-0027-4740-941c-130ba0dc6ac9 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 759 + 50 + 20 + + + 1252.5 + 769 + + + + + + + + true + If True, appends the collision mesh to the planning scene. + 827b568d-38c7-495f-b25d-482971a697f2 + append + append + true + 0 + true + 8760616c-f4d0-491f-b9b7-2997f3f3a597 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 779 + 50 + 20 + + + 1252.5 + 789 + + + + + + + + true + If True, removes the collision mesh from the planning scene. + 158fa4c8-6350-4ad8-8f7f-4a15206d26c3 + remove + remove + true + 0 + true + 954c29fe-a9db-426c-8814-cb4bac2d4abb + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1226 + 799 + 50 + 20 + + + 1252.5 + 809 + + + + + + + + True if the operation was successfully performed. + c55fe023-d62b-4126-bb85-158e021a0c48 + ok + ok + false + 0 + + + + + + 1306 + 699 + 22 + 120 + + + 1317 + 759 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 954c29fe-a9db-426c-8814-cb4bac2d4abb + Button + Button + false + 0 + + + + + + 723 + 798 + 103 + 22 + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + true + fb96cc69-4e0a-44c0-954d-324ccdcba70f + Mesh + Mesh + false + 0 + + + + + + 723 + 918 + 50 + 20 + + + 748.1606 + 928.8004 + + + + + + 1 + + + + + 1 + {0} + + + + + + 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 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + d2173b4a-9de4-40cc-af6b-333d79a04a94 + Panel + + false + 0 + 0 + backpack + + + + + + 724 + 938 + 67 + 20 + + 0 + 0 + 0 + + 724.1783 + 938.8004 + + + + + + + 255;255;250;90 + + true + true + true + false + false + true + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 89d7b441-8a3f-4c38-98f1-4c9fd3a914d2 + Button + Button + false + 0 + + + + + + 948 + 997 + 103 + 22 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 398e1b3c-d787-4dc6-b78f-5c1dd777df55 + Button + Button + false + 0 + + + + + + 836 + 1017 + 103 + 22 + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 7807c1c9-5064-44f7-8831-0e95c2d1f05c + Panel + + false + 0 + 0 + wrist_2_link + + + + + + 805 + 960 + 98 + 20 + + 0 + 0 + 0 + + 805.7691 + 960.7004 + + + + + + + 255;255;250;90 + + true + true + true + false + false + true + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Robot Visualize + + + + + """ +Visualizes the robot. + +COMPAS FAB v0.26.0 +""" +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 v0.26.0 + + 1188 + 504 + + + 558 + 571 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAAHYSURBVEhLtZSxSgNBEIZVCEFQTDoRi4BgLcQHCGJpkSaVja2dnYUglqlEbcQulUUqHyGFpYUvEMgTBDs7z/87do7ZvVUixIPvbndm55/Z2btbKYriX8kal0nW+Bd2b19b4oJnzl8z/BUJv4hCfIh+6o8mVCFGYiII7Hm/R74zMROI2xOI7di6NAhnGtATiN04vJ8xhXWExb/XEoQFpVM8iuswvxPWhhxRWzQ/ENXOUwcBz4IkD2FOAtrmRT1RGzWv2gPcKoOcCBNkT+gLkrB9gwM1f9kOPWkT7cM2M01uVQVysAvrIyL0PqoorKOdiFkhtNAfeNQin8AO1A7NKqolCetZ5w+c9dH3wC3toW+PMfFrPPJRCIVli6gZwuI0AUSFLErWKLHcW1MenK6BYACXFqOrLebBPq7sNvBIjG37N8W4wZ8VihMPKrsNUhBLxIGkLQkMnVib9c429zqRaIrE/BtijCTSDWJQVqvLdjX0GpFgisR+PHAJTYPgk/AJj71GJAgK5qvNiUZsnZyXgmvrG1+Nnb37ID5N9aIJKNi+5F/ZvhqXCWC10fwM46g9EE1AwQslgOb+YZUk0E31ogkokF+F/dR+ZfPo1M4B3lItqBmWTda4PIqVb4c7lSMXBSLEAAAAAElFTkSuQmCC + + false + 19697128-0098-4788-9af6-983e90e9851c + true + true + Robot Visualize + Robot Visualize + + + + + + 2088 + 390 + 257 + 204 + + + 2235 + 492 + + + + + + 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. + 743a7d9b-fc19-42a7-8805-57d96f5b0599 + robot + robot + true + 0 + true + 6aba93e5-b4bb-4923-abc7-5a428d5efa8b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2090 + 392 + 130 + 20 + + + 2156.5 + 402 + + + + + + + + true + The planning group used for end-effector and base visualization. + 6b0bb052-49b2-48fc-bf96-783679c96d89 + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 2090 + 412 + 130 + 20 + + + 2156.5 + 422 + + + + + + + + true + The robot's full configuration. + a440445d-ab75-438d-a60b-ad70fb84bf30 + configuration + configuration + true + 0 + true + c9f47e00-5d45-45f8-a18f-db6bfe015c13 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2090 + 432 + 130 + 20 + + + 2156.5 + 442 + + + + + + + + true + Whether or not to show the robot's visual meshes. + f2420a23-f7d1-4af7-97c6-152c40a2405c + show_visual + show_visual + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2090 + 452 + 130 + 20 + + + 2156.5 + 462 + + + + + + + + true + Whether or not to show the robot's collision meshes. + eb0ed7c0-4dc2-46c6-ac52-f2ac2077eca5 + show_collision + show_collision + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2090 + 472 + 130 + 20 + + + 2156.5 + 482 + + + + + + + + true + Whether or not to show the robot's joint frames. + 625c19e7-639b-45fa-b701-243f5c6d388b + show_frames + show_frames + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2090 + 492 + 130 + 20 + + + 2156.5 + 502 + + + + + + + + true + Whether or not to show the robot's base frame. + 3c76fe31-691d-47c1-b7ad-dbd1f1eaf0de + show_base_frame + show_base_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2090 + 512 + 130 + 20 + + + 2156.5 + 522 + + + + + + + + true + Whether or not to show the robot's end-effector frame. + 3e673565-22ae-4f08-8c41-390cad914fa1 + show_end_effector_frame + show_end_effector_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2090 + 532 + 130 + 20 + + + 2156.5 + 542 + + + + + + + + true + Whether or not to show the collision meshes (if any). + 0b2c5025-b6ad-4fe7-8964-bd01cc3d8a60 + show_cm + show_cm + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2090 + 552 + 130 + 20 + + + 2156.5 + 562 + + + + + + + + true + Whether or not to show the attached collision meshes (if any). + e0666c9d-ce4a-4853-ab11-37cb7e301eeb + show_acm + show_acm + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2090 + 572 + 130 + 20 + + + 2156.5 + 582 + + + + + + + + Rhino meshes of the robot's visual geometry (if any). + fa9cc3ba-4112-44a2-b2fc-781ebe2d5267 + visual + visual + false + 0 + + + + + + 2250 + 392 + 93 + 28 + + + 2296.5 + 406.2857 + + + + + + + + Rhino meshes of the robot's collision geometry (if any). + cdf95af5-ab4d-4a1a-977d-1f92a4d7b5b1 + collision + collision + false + 0 + + + + + + 2250 + 420 + 93 + 29 + + + 2296.5 + 434.8571 + + + + + + + + Rhino meshes of the scene's collision meshes (if any). + 1fc85bf9-b9ff-4715-b924-29782636d775 + collision_meshes + collision_meshes + false + 0 + + + + + + 2250 + 449 + 93 + 28 + + + 2296.5 + 463.4286 + + + + + + + + Rhino meshes of the scene's attached collision meshes (if any). + db26726a-a7d8-4ab8-b4d4-fb84363b51b9 + attached_meshes + attached_meshes + false + 0 + + + + + + 2250 + 477 + 93 + 29 + + + 2296.5 + 492 + + + + + + + + The robot's joint frames as Rhino planes (if any). + 7985a6e8-f96d-4d13-853a-9b61da4194ab + frames + frames + false + 0 + + + + + + 2250 + 506 + 93 + 28 + + + 2296.5 + 520.5714 + + + + + + + + The robot's base frame as a Rhino plane (if any). + 1b368b22-ec7c-4427-a92b-5ad2fec54b72 + base_frame + base_frame + false + 0 + + + + + + 2250 + 534 + 93 + 29 + + + 2296.5 + 549.1429 + + + + + + + + The robot's end-effector frame as a Rhino plane (if any). + f67af8b2-7829-4faa-969c-24de8d5d5135 + ee_frame + ee_frame + false + 0 + + + + + + 2250 + 563 + 93 + 29 + + + 2296.5 + 577.7143 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A 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+ + + + + \ No newline at end of file diff --git a/compas_fab/pull_394/_downloads/5f9ed1e019897ebc5995fe261df32ab9/docker-compose.yml b/compas_fab/pull_394/_downloads/5f9ed1e019897ebc5995fe261df32ab9/docker-compose.yml new file mode 100644 index 000000000..14ab0cb7c --- /dev/null +++ b/compas_fab/pull_394/_downloads/5f9ed1e019897ebc5995fe261df32ab9/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - ur3_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/62fde81236086aeeec97bd55a3e15026/docker-compose.yml b/compas_fab/pull_394/_downloads/62fde81236086aeeec97bd55a3e15026/docker-compose.yml new file mode 100644 index 000000000..f71965202 --- /dev/null +++ b/compas_fab/pull_394/_downloads/62fde81236086aeeec97bd55a3e15026/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - abb_irb120_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/672874312d5d002c89585f09455d558d/02_robot_artist_rhino_from_ros.py b/compas_fab/pull_394/_downloads/672874312d5d002c89585f09455d558d/02_robot_artist_rhino_from_ros.py new file mode 100644 index 000000000..180b3ca31 --- /dev/null +++ b/compas_fab/pull_394/_downloads/672874312d5d002c89585f09455d558d/02_robot_artist_rhino_from_ros.py @@ -0,0 +1,15 @@ +import compas +from compas_fab.backends import RosClient +from compas_rhino.artists import RobotModelArtist + +# Set high precision to import meshes defined in meters +compas.PRECISION = '12f' + +with RosClient() as ros: + # Load complete model from ROS + robot = ros.load_robot(load_geometry=True) + + # Visualize robot + robot.artist = RobotModelArtist(robot.model, layer='COMPAS FAB::Example') + robot.artist.clear_layer() + robot.artist.draw_visual() diff --git a/compas_fab/pull_394/_downloads/7a2788e7b3cd6f08e5ad4010f70e3a6e/01_complete_path_planning_example.py b/compas_fab/pull_394/_downloads/7a2788e7b3cd6f08e5ad4010f70e3a6e/01_complete_path_planning_example.py new file mode 100644 index 000000000..b837e5638 --- /dev/null +++ b/compas_fab/pull_394/_downloads/7a2788e7b3cd6f08e5ad4010f70e3a6e/01_complete_path_planning_example.py @@ -0,0 +1,43 @@ +import logging + +from compas.datastructures import Mesh +from compas.geometry import Frame + +import compas_fab +from compas_fab.robots import rfl +from compas_fab.backends import VrepClient + +# Configure logging to DEBUG to see detailed timing of the path planning +logging.basicConfig(level=logging.DEBUG) + +# Configure parameters for path planning +start_pose = Frame((7.453, 2.905, 0.679), (1, 0, 0), (0, -1, 0)) +goal_pose = Frame((5.510, 5.900, 1.810), (0, 0, -1), (0, 1, 0)) +planner_id = 'rrtconnect' +max_trials = 1 +resolution = 0.02 +building_member = Mesh.from_obj(compas_fab.get('planning_scene/timber_beam.obj')) +structure = [Mesh.from_obj(compas_fab.get('planning_scene/timber_structure.obj'))] +metric = [0.1] * 9 +fast_search = True + +with VrepClient(debug=True) as client: + robot = rfl.Robot('A', client=client) + client.planner.pick_building_member(robot, building_member, start_pose) + group = robot.model.attr['index'] + + path = client.plan_motion(robot, + goal_pose, + group=group, + options={ + 'metric_values': metric, + 'collision_meshes': structure, + 'planner_id': planner_id, + 'trials': max_trials, + 'resolution': resolution, + 'shallow_state_search': fast_search, + }) + + print('Found path of %d steps' % len(path)) + + assert len(path) > 0, 'Path should not be empty' diff --git a/compas_fab/pull_394/_downloads/7a82a790b057b80472712632a2a4d52f/02_robot_artist_grasshopper.ghx b/compas_fab/pull_394/_downloads/7a82a790b057b80472712632a2a4d52f/02_robot_artist_grasshopper.ghx new file mode 100644 index 000000000..e310cca58 --- /dev/null +++ b/compas_fab/pull_394/_downloads/7a82a790b057b80472712632a2a4d52f/02_robot_artist_grasshopper.ghx @@ -0,0 +1,2538 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + be8074bb-8e96-4832-8044-be1802d61475 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 636715287477544574 + + 02_robot_artist_grasshopper.ghx + + + + + 0 + + + + + + 19 + 320 + + 0.7830095 + + + + + 0 + + + + + + + 0 + + + + + 1 + + + + + Bengesht, Version=3.3.0.0, Culture=neutral, PublicKeyToken=null + 3.3.0.0 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + 29 + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + e3519229-ca14-4046-9d11-7a716a404611 + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + e4d3df7f-9bf6-4904-a0fb-866c58065392 + 3c5b08e1-3320-45e7-b710-dcff1c931d17 + 2004e9d5-6229-4005-b011-5a487d9d26d4 + 8f17853c-ec39-418d-8403-ec3f431cc3c4 + a9eca4b1-fc4a-4f24-88ac-745bb2a4c6eb + c0ee2b14-be7e-40ae-a58a-9c0dda14bcc0 + 5764ad31-7a82-4273-8d0a-c7b3751d9044 + d88c50d4-08aa-4515-af81-6e282faa6879 + 10 + 9dbdf6e0-3aef-4a69-bf3b-3bde98a5165b + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + from scriptcontext import sticky as st + +import compas + +from compas.robots import RobotModel +from compas.robots import GithubPackageMeshLoader +from compas_fab.robots import Robot +from compas_ghpython.artists import RobotModelArtist + +# Robot meshes are usually in meters +# Set a high precision to prevent parsing errors +# and configure Rhino itself in meters +compas.PRECISION = '12f' + +# Store robot in component-based key +robot_key = 'robot_{}'.format(str(ghenv.Component.InstanceGuid)) + +if robot_key not in st: + st[robot_key] = None + +if load: + # Load robot (try other repo/package combinations, e.g. 'abb_irb120_support') + repo = 'ros-industrial/abb' + package = 'abb_irb6600_support' + branch = 'kinetic-devel' + + github = GithubPackageMeshLoader(repo, package, branch) + + model = RobotModel.from_urdf_file(github.load_urdf('irb6640.urdf')) + model.load_geometry(github) + artist = RobotModelArtist(model) + robot = Robot(model, artist) + + st[robot_key] = robot + +robot = st[robot_key] + + GhPython provides a Python script component + + 72 + 0 + + + 1454 + 1050 + + true + true + 2 + e3519229-ca14-4046-9d11-7a716a404611 + false + true + Python Script + Python + + + + + + 174 + 119 + 99 + 28 + + + 219 + 133 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + b845a43d-038e-4745-9da8-0868a6372819 + load + load + true + 0 + true + e4d3df7f-9bf6-4904-a0fb-866c58065392 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 176 + 121 + 28 + 24 + + + 191.5 + 133 + + + + + + + + Script output robot. + 8d0c519a-1fce-4cbb-88d0-15d30b363874 + robot + robot + false + 0 + + + + + + 234 + 121 + 37 + 24 + + + 252.5 + 133 + + + + + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + Data + Robot + false + 8d0c519a-1fce-4cbb-88d0-15d30b363874 + 1 + + + + + + 310 + 123 + 50 + 20 + + + 335.6251 + 133.1552 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + e4d3df7f-9bf6-4904-a0fb-866c58065392 + Button + Load + false + 0 + + + + + + 44 + 122 + 94 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if reload: + from compas_ghpython import unload_modules + unload_modules('compas') + + GhPython provides a Python script component + + 196 + 196 + + + 1095 + 830 + + true + true + 4ad079ed-237e-402b-839e-4d1975a36726 + false + true + Python Script + py + + + + + + 145 + -48 + 69 + 30 + + + 200 + -33 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 0 + + + + + true + Script variable Python + 1a21fdc9-69f7-4e45-9c42-fca750828fea + reload + reload + true + 0 + true + e78ee278-5bbc-4a80-85c4-503ce2766001 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 147 + -46 + 38 + 26 + + + 167.5 + -33 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + e78ee278-5bbc-4a80-85c4-503ce2766001 + Button + reload + false + 0 + + + + + + 23 + -44 + 101 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + eee82406-b14b-4ac3-b15a-b1e5ef338f81 + 252795c8-0af3-408a-afcd-68922325c144 + 1d64e9e6-fab2-40b7-aeeb-a0b863eba38c + abd8ff11-fb3b-499e-af56-138ee2b7bdfe + 035dac9f-6d96-40ef-8a6d-11539ffb4e73 + bd3bc033-cab0-4715-ba95-fd0a4d671fad + ecee4657-2cf3-4e4e-b878-7d63a24b29b1 + d33a91db-afca-4e47-9440-82f794770b4d + 8 + 600d8045-03b6-40b7-8618-3c16c25cd973 + Group + forward kinematics + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import math +from compas.robots import Configuration + +if robot: + joint_values = [a1, a2, a3, a4, a5, a6] + joint_names = robot.get_configurable_joint_names() + configuration = Configuration.from_revolute_values([math.radians(a) for a in joint_values]) + GhPython provides a Python script component + + 147 + 147 + + + 1300 + 740 + + true + true + eee82406-b14b-4ac3-b15a-b1e5ef338f81 + false + true + Python Script + forward kinematics + + + + + + 685 + 127 + 143 + 144 + + + 736 + 199 + + + + + + 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 + Script variable Python + a71fb026-a64b-4610-bae6-c82c158359cf + robot + robot + true + 0 + true + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 687 + 129 + 34 + 20 + + + 705.5 + 139 + + + + + + + + true + Script input a1. + 6de3c98a-61cc-435b-bc2a-c9e7d243fb96 + a1 + a1 + true + 0 + true + 252795c8-0af3-408a-afcd-68922325c144 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 149 + 34 + 20 + + + 705.5 + 159 + + + + + + + + true + Script input a2. + c8b04805-a3b5-4722-97aa-6b3806f3a17a + a2 + a2 + true + 0 + true + 1d64e9e6-fab2-40b7-aeeb-a0b863eba38c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 169 + 34 + 20 + + + 705.5 + 179 + + + + + + + + true + Script input a3. + 14afa5f0-fda2-4a29-a2fa-3a38f53d9970 + a3 + a3 + true + 0 + true + abd8ff11-fb3b-499e-af56-138ee2b7bdfe + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 189 + 34 + 20 + + + 705.5 + 199 + + + + + + + + true + Script input a4. + b9f1cc41-d5ba-424f-8180-77e6ea93fcc9 + a4 + a4 + true + 0 + true + 035dac9f-6d96-40ef-8a6d-11539ffb4e73 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 209 + 34 + 20 + + + 705.5 + 219 + + + + + + + + true + Script input a5. + cff1c9ae-c969-4afe-a02c-e6475a790084 + a5 + a5 + true + 0 + true + bd3bc033-cab0-4715-ba95-fd0a4d671fad + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 229 + 34 + 20 + + + 705.5 + 239 + + + + + + + + true + Script input a6. + 6d91349b-34ed-4408-8418-7d7932bd91b2 + a6 + a6 + true + 0 + true + ecee4657-2cf3-4e4e-b878-7d63a24b29b1 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 687 + 249 + 34 + 20 + + + 705.5 + 259 + + + + + + + + Script output configuration. + e9124a0a-6f25-4430-8741-b5183bd4ccbe + configuration + configuration + false + 0 + + + + + + 751 + 129 + 75 + 140 + + + 788.5 + 199 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 252795c8-0af3-408a-afcd-68922325c144 + Number Slider + a1 + false + 0 + + + + + + 420 + 138 + 227 + 20 + + + 420.5246 + 138.3925 + + true + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 1d64e9e6-fab2-40b7-aeeb-a0b863eba38c + Number Slider + a2 + false + 0 + + + + + + 420 + 162 + 227 + 20 + + + 420.2376 + 162.8233 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + abd8ff11-fb3b-499e-af56-138ee2b7bdfe + Number Slider + a3 + false + 0 + + + + + + 420 + 185 + 227 + 20 + + + 420.9646 + 185.5925 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 035dac9f-6d96-40ef-8a6d-11539ffb4e73 + Number Slider + a4 + false + 0 + + + + + + 420 + 208 + 227 + 20 + + + 420.3647 + 208.3124 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + bd3bc033-cab0-4715-ba95-fd0a4d671fad + Number Slider + a5 + false + 0 + + + + + + 420 + 230 + 227 + 20 + + + 420.3647 + 230.3127 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + ecee4657-2cf3-4e4e-b878-7d63a24b29b1 + Number Slider + a6 + false + 0 + + + + + + 420 + 253 + 227 + 20 + + + 420.9646 + 253.3126 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 424.5905 + 76.55536 + + + 695.9352 + 76.55536 + + + 695.9352 + 115.0329 + + + 424.5905 + 115.0329 + + A quick note + Arial + d33a91db-afca-4e47-9440-82f794770b4d + false + Scribble + Scribble + 41 + Configuration + + + + + + 419.5905 + 71.55536 + 281.3447 + 48.47754 + + + 424.5905 + 76.55536 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + """Visualizes a robot. + Inputs: + robot: The robot + configuration: :class:`compas_fab.robots.Configuration` + The robot's full configuration to display. + show_visual: bool + Whether or not to show the robot's visual meshes. + show_collision: bool + Whether or not to show the robot's collision meshes. + show_frames: bool + Whether or not to show the robot's joint frames. + show_base_frame: bool + Whether or not to show the robot's base frame. + show_end_effector_frame: bool + Whether or not to show the robot's end-effector frame. + Output: + visual: The robot's visual meshes. + collision: The robot's collision meshes. + frames: The robot's joint frames. + base_frame: The robot's base frame. + ee_frame: The robot's end-effector frame. +""" +from __future__ import print_function + +if robot and configuration: + group = group or robot.main_group_name if robot.semantics else None + + robot.update(configuration, group, visual=show_visual, collision=show_collision) + + if show_visual: + visual = robot.artist.draw_visual() + + if show_collision: + collision = robot.artist.draw_collision() + + if show_frames: + axes = robot.transformed_axes(configuration, group) + frames = robot.transformed_frames(configuration, group) + + if show_base_frame: + frames = robot.transformed_frames(configuration, group) + base_frame = frames[0] + + if show_end_effector_frame: + ee_frame = robot.forward_kinematics(configuration, group) + print("End-effector", ee_frame) + + Visualizes a robot. + + 374 + 255 + + + 1653 + 1050 + + true + true + true + 601f7392-de55-4af1-b035-34947de6e7f8 + false + true + Python Script + visualize + + + + + + 1119 + 133 + 229 + 144 + + + 1266 + 205 + + + + + + 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 + 5 + 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 + edc2cca5-05a1-4492-a047-24ec8598f256 + robot + robot + true + 0 + true + 4f3ab972-52d8-4dfe-96cf-8a5bd67b3336 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 1121 + 135 + 130 + 20 + + + 1187.5 + 145 + + + + + + + + true + :class:`compas_fab.robots.Configuration` +The robot's full configuration to display. + 0fa7050b-aca0-44c9-95bf-3206ebe8e5b0 + configuration + configuration + true + 0 + true + e9124a0a-6f25-4430-8741-b5183bd4ccbe + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1121 + 155 + 130 + 20 + + + 1187.5 + 165 + + + + + + + + true + bool +Whether or not to show the robot's visual meshes. + 2f81c8bb-da6c-4bba-ad85-ae1035a0f9e9 + show_visual + show_visual + true + 0 + true + eb478f26-ffb0-4166-ae11-56c33b606a6d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1121 + 175 + 130 + 20 + + + 1187.5 + 185 + + + + + + + + true + bool +Whether or not to show the robot's collision meshes. + 772a363d-e513-420e-9cce-79bb87e363c8 + show_collision + show_collision + true + 0 + true + d5a5d016-018d-4fdf-9c39-cca3847596d0 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1121 + 195 + 130 + 20 + + + 1187.5 + 205 + + + + + + + + true + bool +Whether or not to show the robot's joint frames. + 5fd4532b-32e0-489c-8eaf-557398840eb6 + show_frames + show_frames + true + 0 + true + 0da0195f-f786-4b14-a075-51271a46a8e3 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1121 + 215 + 130 + 20 + + + 1187.5 + 225 + + + + + + + + true + bool +Whether or not to show the robot's base frame. + 1bed383c-8ba4-4eaf-b66a-1b482227d63d + show_base_frame + show_base_frame + true + 0 + true + 06207700-b114-406c-9b5d-d3ba24e6f67d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1121 + 235 + 130 + 20 + + + 1187.5 + 245 + + + + + + + + true + bool +Whether or not to show the robot's end-effector frame. + 52f36410-04ec-4fd4-89a2-bfde76912375 + show_end_effector_frame + show_end_effector_frame + true + 0 + true + 4febdca0-5d9c-49d8-ac06-83cffc970ddb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1121 + 255 + 130 + 20 + + + 1187.5 + 265 + + + + + + + + The robot's visual meshes. + 8ab249ce-3741-4a6a-a338-67eee6b508c4 + visual + visual + false + 0 + + + + + + 1281 + 135 + 65 + 28 + + + 1313.5 + 149 + + + + + + + + The robot's collision meshes. + ef7e70b3-73e1-4494-8341-fb514027048c + collision + collision + false + 0 + + + + + + 1281 + 163 + 65 + 28 + + + 1313.5 + 177 + + + + + + + + The robot's joint frames. + 8293a1ff-c9b7-40f6-aa60-384e7530a1c6 + frames + frames + false + 0 + + + + + + 1281 + 191 + 65 + 28 + + + 1313.5 + 205 + + + + + + + + The robot's end-effector frame. + a914d789-3e2e-435f-a48e-a83069cf52d1 + ee_frame + ee_frame + false + 0 + + + + + + 1281 + 219 + 65 + 28 + + + 1313.5 + 233 + + + + + + + + The robot's base frame. + d1fa2915-3c27-4784-a5bb-0f1b2f2a6be7 + base_frame + base_frame + false + 0 + + + + + + 1281 + 247 + 65 + 28 + + + 1313.5 + 261 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 9b3cbd56-42b2-432b-8212-76f874ee84fe + 5f732c3a-3fa7-4ccb-b165-aedbf736a624 + 7b279625-b2ec-4866-8c2e-b5cd5304b5fc + fe6c1d5a-1e70-42a9-86d4-49550602f4be + d546900d-eccd-43dd-a4e3-02e090309597 + 5c9a2cf1-d287-4b54-95dc-f64bc7e489d1 + 34cec146-a15f-4660-ab2e-05e0dd646833 + 16042d38-d8f7-4fb5-9a93-245fc82b6f0b + 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54f69083-9f65-4ad5-a0df-c2e648be7f71 + db3c817d-66d7-4f78-a30d-7640db120aa1 + 77ad3ede-ad90-4979-82e8-5da65398b04b + 095333d4-4aa8-47ac-b242-6b2aefffbc50 + a11a9cbc-2779-42c6-b6bd-c0de4194cf0f + eb478f26-ffb0-4166-ae11-56c33b606a6d + d5a5d016-018d-4fdf-9c39-cca3847596d0 + 0da0195f-f786-4b14-a075-51271a46a8e3 + 4febdca0-5d9c-49d8-ac06-83cffc970ddb + 06207700-b114-406c-9b5d-d3ba24e6f67d + 74951752-2d75-4720-8648-3727f08e4b17 + 6e5237df-4f5d-4f2d-9fca-ba3a8aece19b + 50924452-73fd-4c6a-89f5-80888158e917 + 50ae1e6b-93bc-4ba7-958f-0d9b29ee1eff + 72 + 0cfd740c-8dfe-4a2a-ba4d-9681d5e560b2 + Group + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 888.0784 + 80.36942 + + + 1144.308 + 80.36942 + + + 1144.308 + 110.1985 + + + 888.0784 + 110.1985 + + A quick note + Arial + 49b0dacd-bcc6-48ea-9d2c-77862d12d28a + false + Scribble + Scribble + 41 + Visualisation + + + + + + 883.0784 + 75.36942 + 266.2299 + 39.8291 + + + 888.0784 + 80.36942 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 9eb273ad-eae3-44f1-9bb3-391b93e3d291 + Geometry + Geo + false + 8ab249ce-3741-4a6a-a338-67eee6b508c4 + 1 + + + + + + 1415 + 113 + 50 + 20 + + + 1440.468 + 123.5265 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 9282ba2b-c1e5-4558-9b52-ebd039083c7a + Geometry + Geo + false + ef7e70b3-73e1-4494-8341-fb514027048c + 1 + + + + + + 1414 + 139 + 50 + 20 + + + 1439.716 + 149.2624 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + eb478f26-ffb0-4166-ae11-56c33b606a6d + Boolean Toggle + show_visual + false + 0 + true + + + + + + 956 + 166 + 127 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + d5a5d016-018d-4fdf-9c39-cca3847596d0 + Boolean Toggle + show_collision + false + 0 + false + + + + + + 944 + 190 + 139 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 0da0195f-f786-4b14-a075-51271a46a8e3 + Boolean Toggle + show_frames + false + 0 + false + + + + + + 949 + 216 + 133 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 4febdca0-5d9c-49d8-ac06-83cffc970ddb + Boolean Toggle + show_end_effector_frame + false + 0 + false + + + + + + 890 + 262 + 193 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 06207700-b114-406c-9b5d-d3ba24e6f67d + Boolean Toggle + show_base_frame + false + 0 + false + + + + + + 928 + 238 + 155 + 22 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 40.64706 + 63.21286 + + + 158.7022 + 63.21286 + + + 158.7022 + 93.04196 + + + 40.64706 + 93.04196 + + A quick note + Arial + c0ee2b14-be7e-40ae-a58a-9c0dda14bcc0 + false + Scribble + Scribble + 41 + Robot + + + + + + 35.64706 + 58.21286 + 128.0552 + 39.8291 + + + 40.64706 + 63.21286 + + + + + + + + + + 11e95a7b-1e2c-4b66-bd95-fcad51f8662a + Vector Display Ex + + + + + Preview vectors in the viewport + 50924452-73fd-4c6a-89f5-80888158e917 + Vector Display Ex + VDisEx + + + + + + 1512 + 191 + 48 + 84 + + + 1546 + 233 + + + + + + Start point of vector + f7177981-695c-418a-a010-7dd99d5a8f29 + Point + P + true + d962205a-6e76-4ca6-8dcd-02887bad430e + 1 + + + + + + 1514 + 193 + 17 + 20 + + + 1524 + 203 + + + + + + + + Vector to display + 835f1cbc-caec-4c43-983c-26fe617f1c79 + Vector + V + true + c9f33911-c95c-42f4-885a-2667387e2399 + 1 + + + + + + 1514 + 213 + 17 + 20 + + + 1524 + 223 + + + + + + + + Colour of vector + 58ad43af-e9b5-49d8-9d81-5842d8c93999 + Colour + C + true + 50588f92-6509-40a1-9194-2ff9d746d25e + 1 + + + + + + 1514 + 233 + 17 + 20 + + + 1524 + 243 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;0;0;0 + + + + + + + + + + + + Width of vector lines + 9b598ca0-2f78-41cb-b49b-2e52ca65444f + Width + W + true + 8ca6f7d9-32cf-4f92-9c92-841f23816947 + 1 + + + + + + 1514 + 253 + 17 + 20 + + + 1524 + 263 + + + + + + 1 + + + + + 1 + {0} + + + + + 2 + + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from System.Drawing import Color +from compas_ghpython.utilities import draw_frame + +red = Color.FromArgb(255, 0, 0) +green = Color.FromArgb(0, 255, 0) +blue = Color.FromArgb(0, 0, 255) + +P = [] +V = [] +C = [] + +scale = float(scale) + +for frame in frames: + if not frame: + continue + plane = draw_frame(frame) + P += [plane.Origin] * 3 + V.append(plane.XAxis * scale) + V.append(plane.YAxis * scale) + V.append(plane.ZAxis * scale) + C += [red, green, blue] + +W = 3 + GhPython provides a Python script component + + 1768 + 319 + + + 741 + 702 + + true + true + true + 50ae1e6b-93bc-4ba7-958f-0d9b29ee1eff + false + true + GhPython Script + draw + + + + + + 1388 + 191 + 94 + 84 + + + 1445 + 233 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + true + Script input frames. + 0895e9a1-7bb6-41eb-bf22-20720a1c02a0 + frames + frames + true + 1 + true + 8293a1ff-c9b7-40f6-aa60-384e7530a1c6 + a914d789-3e2e-435f-a48e-a83069cf52d1 + d1fa2915-3c27-4784-a5bb-0f1b2f2a6be7 + 3 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1390 + 193 + 40 + 40 + + + 1411.5 + 213 + + + + + + + + true + Script input scale. + d8ac5fbf-6602-46e9-83f5-86c2111c3756 + scale + scale + true + 0 + true + df710f60-0af2-4824-a791-db8f5e415e90 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1390 + 233 + 40 + 40 + + + 1411.5 + 253 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Number + 0.1 + + + + + + + + + + + Script output P. + d962205a-6e76-4ca6-8dcd-02887bad430e + P + P + false + 0 + + + + + + 1460 + 193 + 20 + 20 + + + 1470 + 203 + + + + + + + + Script output V. + c9f33911-c95c-42f4-885a-2667387e2399 + V + V + false + 0 + + + + + + 1460 + 213 + 20 + 20 + + + 1470 + 223 + + + + + + + + Script output C. + 50588f92-6509-40a1-9194-2ff9d746d25e + C + C + false + 0 + + + + + + 1460 + 233 + 20 + 20 + + + 1470 + 243 + + + + + + + + Script output W. + 8ca6f7d9-32cf-4f92-9c92-841f23816947 + W + W + false + 0 + + + + + + 1460 + 253 + 20 + 20 + + + 1470 + 263 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + df710f60-0af2-4824-a791-db8f5e415e90 + Number Slider + + false + 0 + + + + + + 1388 + 166 + 160 + 20 + + + 1388.184 + 166.7084 + + + + + + 1 + 1 + 0 + 1 + 0 + 0 + 0.1 + + + + + + + + + + + + + + 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 + + + + + \ No newline at end of file diff --git a/compas_fab/pull_394/_downloads/8f1ca0b32b981b2c4a5d01c5c17e31cb/01_grasshopper_path_planner.ghx b/compas_fab/pull_394/_downloads/8f1ca0b32b981b2c4a5d01c5c17e31cb/01_grasshopper_path_planner.ghx new file mode 100644 index 000000000..71dc46d38 --- /dev/null +++ b/compas_fab/pull_394/_downloads/8f1ca0b32b981b2c4a5d01c5c17e31cb/01_grasshopper_path_planner.ghx @@ -0,0 +1,1988 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + c698f008-a5b7-45f9-b4fa-a7303d1b8f66 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 636250884033086912 + + 01_grasshopper_path_planner.ghx + + + + + 0 + + + + + + -2081 + -760 + + 1.27500045 + + + + + 0 + + + + + + + 0 + + + + + 1 + + + + + Bengesht, Version=3.3.0.0, Culture=neutral, PublicKeyToken=null + 3.3.0.0 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + 22 + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 8e8cedc4-f084-4bbc-aa47-a5fda6a03462 + bd36ef14-d86c-4a44-89c1-1713b7033f73 + f1201b71-0c78-4640-a200-bf3eab5cc294 + 7ed37be7-8051-48b0-9005-16a86d204dd8 + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + 3441c3d2-8dfa-4005-a0fd-12869b7f7013 + 974e7c7b-c20d-43cf-8ad0-51a85017cee9 + c53719b8-0656-41f6-9730-093504c4ce14 + 2162739d-9309-4372-8e77-eec1d76aaf49 + 10 + a4c3ed9c-f977-4436-8ed3-8abee195481f + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import logging +from compas.datastructures import Mesh +from compas.geometry import Frame +from compas_rhino.geometry import RhinoMesh + +from compas_fab.robots import * +from compas_fab.robots import rfl +from compas_fab.backends import VrepClient + +logging.basicConfig(level=logging.DEBUG) + +start_pose = Frame(gripping_plane.Origin, gripping_plane.XAxis, gripping_plane.YAxis) +goal_pose = Frame(goal_plane.Origin, goal_plane.XAxis, goal_plane.YAxis) + +if trigger: + building_member_mesh = RhinoMesh.from_guid(building_member).to_compas() + collision_meshes = [RhinoMesh.from_guid(m).to_compas() for m in collision_meshes] if collision_meshes else None + metric_values = [float(i) for i in metric_values.split(',')] if metric_values else None + + with VrepClient() as client: + robot = rfl.Robot(selected_robot) + client.planner.pick_building_member(robot, building_member_mesh, start_pose) + pickup_config = client.get_robot_config(robot) + + path = client.plan_motion(robot, + goal_pose, + group=robot.model.attr['index'], + options={ + 'collision_meshes': collision_meshes, + 'planner_id':planner_id, + 'resolution': resolution, + 'metric_values': metric_values + }) + if len(path) > 0: + path.insert(0, pickup_config) + print('Found path of %d steps' % len(path)) + else: + print('No path found') + + GhPython provides a Python script component + + 32 + 147 + + + 2003 + 976 + + true + true + false + 21628e5e-281a-47a6-9cc8-eedefc282624 + false + true + Python Script + Path planning + + + + + + 2099 + 780 + 158 + 184 + + + 2208 + 872 + + true + + + + + 9 + 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 + 3 + 3ede854e-c753-40eb-84cb-b48008f14fd4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Tests building mesh + 0449613b-22c9-4dbb-8c7c-4e88bcf7f154 + trigger + trigger + true + 0 + true + 974e7c7b-c20d-43cf-8ad0-51a85017cee9 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2101 + 782 + 92 + 20 + + + 2148.5 + 792 + + true + + + + + + + true + Script input selected_robot. + cba90a53-0024-4189-beb5-a0f327165fe5 + selected_robot + selected_robot + true + 0 + true + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 2101 + 802 + 92 + 20 + + + 2148.5 + 812 + + true + + + + + + + true + Script input gripping_plane. + 7e85399e-f195-408f-95eb-9204c140ea1a + gripping_plane + gripping_plane + true + 0 + true + 8e8cedc4-f084-4bbc-aa47-a5fda6a03462 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2101 + 822 + 92 + 20 + + + 2148.5 + 832 + + true + + + + + + + true + Script input goal_plane. + 6427a625-63ad-4fbc-a3a9-7044fe8e6b1c + goal_plane + goal_plane + true + 0 + true + f1201b71-0c78-4640-a200-bf3eab5cc294 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2101 + 842 + 92 + 20 + + + 2148.5 + 852 + + true + + + + + + + true + Script input building_member. + baaf6cad-0cf1-44ef-828a-53ed5e854d37 + building_member + building_member + true + 0 + true + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2101 + 862 + 92 + 20 + + + 2148.5 + 872 + + true + + + + + + + 1 + true + Script input collision_meshes. + 62fbfbc6-7608-43bb-a8d5-457a2cf80148 + collision_meshes + collision_meshes + true + 1 + true + 2162739d-9309-4372-8e77-eec1d76aaf49 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2101 + 882 + 92 + 20 + + + 2148.5 + 892 + + true + + + + + + + true + Script input planner_id. + 65e02af5-61bc-405a-9abe-79e736982396 + planner_id + planner_id + true + 0 + true + b252f029-b6db-4e8c-882f-d808d7ebae81 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2101 + 902 + 92 + 20 + + + 2148.5 + 912 + + true + + + + + + + true + Script input resolution. + ce04295e-571f-4233-9122-a601380b5fe4 + resolution + resolution + true + 0 + true + 1f095bc5-8a07-4f53-afee-c1d4e737b32c + 1 + 39fbc626-7a01-46ab-a18e-ec1c0c41685b + 2 + + + + + + 2101 + 922 + 92 + 20 + + + 2148.5 + 932 + + true + + + + + + + true + Script input metric_values. + 4623ef41-6bdc-4dc3-9a32-8da09f57f9e5 + metric_values + metric_values + true + 0 + true + f27c2361-6904-456d-bb8f-0c7ab3d2c118 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2101 + 942 + 92 + 20 + + + 2148.5 + 952 + + true + + + + + + + The execution information, as output and error streams + c5cf4bc6-c4b4-494d-bf62-a51d4a619b19 + out + out + false + 0 + + + + + + 2223 + 782 + 32 + 60 + + + 2239 + 812 + + true + + + + + + + Script output path. + 1287d8c0-c15f-4710-ad0d-a681c9d1b5f3 + path + path + false + 0 + + + + + + 2223 + 842 + 32 + 60 + + + 2239 + 872 + + true + + + + + + + Script output a. + 09138efa-f616-46fa-b33e-e04f574f26ae + a + a + false + 0 + + + + + + 2223 + 902 + 32 + 60 + + + 2239 + 932 + + true + + + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 4 + 1 + Value List + List + false + 0 + + + + + "A" + Robot A + true + + + + + "B" + Robot B + false + + + + + "C" + Robot C + false + + + + + "D" + Robot D + false + + + + + + 1880 + 816 + 120 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 974e7c7b-c20d-43cf-8ad0-51a85017cee9 + Boolean Toggle + Trigger + false + 0 + true + + + + + + 1880 + 781 + 105 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import logging +import scriptcontext as sc + +from compas_fab.robots import * +from compas_fab.robots import rfl +from compas_fab.backends import VrepClient +from compas_fab.ghpython import PathVisualizer + +LOG = logging.getLogger('visualization') + +#if "scene_meshes" in sc.sticky: +# del sc.sticky["scene_meshes"] + +if path: + with VrepClient(debug=True) as simulator: + frame_index = ((len(path) - 1) * frame) // 100 + LOG.debug('Rendering frame %d out of %d', frame_index + 1, len(path)) + + robot = rfl.Robot(selected_robot, client=simulator) + visualizer = PathVisualizer(simulator, robot, building_member) + a = visualizer.get_frame_meshes(path, frame_index, sc.sticky) + + GhPython provides a Python script component + + 754 + 552 + + + 1628 + 976 + + true + false + 6d1a0bb9-08b5-490d-85b2-27db22cb9e7a + false + true + Python Script + Visualization + + + + + + 2336 + 785 + 152 + 96 + + + 2445 + 833 + + + + + + 4 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 3ede854e-c753-40eb-84cb-b48008f14fd4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script input frame. + 8166d33b-5df7-429e-b3d1-a7338ea5c19b + frame + frame + true + 0 + true + a6f3c0b0-b067-4fa7-8822-61d6cccfdf9d + 1 + 48d01794-d3d8-4aef-990e-127168822244 + 2 + + + + + + 2338 + 787 + 92 + 23 + + + 2385.5 + 798.5 + + + + + + + + true + Script input selected_robot. + c592f098-c735-4e32-8519-a36729175047 + selected_robot + selected_robot + true + 0 + true + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2338 + 810 + 92 + 23 + + + 2385.5 + 821.5 + + + + + + + + true + Script input building_member. + 36016298-e5d8-4014-b442-2893f40e42c3 + building_member + building_member + true + 0 + true + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2338 + 833 + 92 + 23 + + + 2385.5 + 844.5 + + + + + + + + 1 + true + Script input path. + 985e4a87-b5e4-4ea8-a745-3666cdcb42eb + path + path + true + 1 + true + 1287d8c0-c15f-4710-ad0d-a681c9d1b5f3 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2338 + 856 + 92 + 23 + + + 2385.5 + 867.5 + + + + + + + + The execution information, as output and error streams + 9ab68023-04f8-4515-adc8-9a413d737003 + out + out + false + 0 + + + + + + 2460 + 787 + 26 + 46 + + + 2473 + 810 + + + + + + + + Script output a. + d58f0f26-2368-452c-a3c1-fb1a4b28f3da + a + a + false + 0 + + + + + + 2460 + 833 + 26 + 46 + + + 2473 + 856 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + a6f3c0b0-b067-4fa7-8822-61d6cccfdf9d + Number Slider + + false + 0 + + + + + + 2332 + 756 + 161 + 20 + + + 2332.854 + 756.9421 + + + + + + 3 + 0 + 1 + 100 + 0 + 0 + 100 + + + + + + + + + 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 + Plane + + + + + Contains a collection of three-dimensional axis-systems + 8e8cedc4-f084-4bbc-aa47-a5fda6a03462 + Plane + Gripping plane + false + 0 + + + + + + 1882 + 852 + 85 + 20 + + + 1924.818 + 862.425 + + + + + + 1 + + + + + 1 + {0} + + + + + + 7.453 + 2.905 + 0.679 + 1 + 0 + 0 + 0 + -1 + 0 + + + + + + + + + + + + + + 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 + Plane + + + + + Contains a collection of three-dimensional axis-systems + f1201b71-0c78-4640-a200-bf3eab5cc294 + Plane + Goal plane + false + 0 + + + + + + 1882 + 885 + 65 + 20 + + + 1914.868 + 895.9585 + + + + + + 1 + + + + + 1 + {0} + + + + + + 12.037160567043 + 7.811497132033 + 2 + 0 + -1 + 0 + -0.021177596150266 + 0 + -0.999775729562034 + + + + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 1886.379 + 752.0146 + + + 1972.582 + 752.0146 + + + 1972.582 + 767.0224 + + + 1886.379 + 767.0224 + + A quick note + Microsoft Sans Serif + 3441c3d2-8dfa-4005-a0fd-12869b7f7013 + false + Scribble + Scribble + 16 + Basic config + + + + + + 1881.379 + 747.0146 + 96.20313 + 25.00781 + + + 1886.379 + 752.0146 + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + Mesh + Building member + false + 0 + + + + + + 1882 + 919 + 96 + 20 + + + 1930.048 + 929.8969 + + + + + + 1 + + + + + 1 + {0} + + + + + + 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 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if reload: + from compas_ghpython import unload_modules + unload_modules('compas') + + + GhPython provides a Python script component + + 196 + 196 + + + 967 + 719 + + true + true + 4887c46d-3f03-4b2e-ad62-bafa9242fe72 + false + true + Python Script + py + + + + + + 155 + -38 + 69 + 30 + + + 210 + -23 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 0 + + + + + true + Script variable Python + 663e0993-fad7-4d01-bf6f-5f0246090278 + reload + reload + true + 0 + true + 108bd6b4-a366-4c37-b0f2-baafae9f0fb7 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 157 + -36 + 38 + 26 + + + 177.5 + -23 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 108bd6b4-a366-4c37-b0f2-baafae9f0fb7 + Button + reload + false + 0 + + + + + + 33 + -34 + 101 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+ true + false + false + true + + + + + Courier New + 4 + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + b252f029-b6db-4e8c-882f-d808d7ebae81 + 16 + 1 + Value List + List + false + 0 + + + + + "bitrrt" + bitrrt + false + + + + + "bkpiece1" + bkpiece1 + false + + + + + "est" + est + false + + + + + "kpiece1" + kpiece1 + false + + + + + "lazyprmstar" + lazyprmstar + false + + + + + "lbkpiece1" + lbkpiece1 + false + + + + + "lbtrrt" + lbtrrt + false + + + + + "pdst" + pdst + false + + + + + "prm" + prm + false + + + + + "prrt" + prrt + false + + + + + "rrt" + rrt + false + + + + + "rrtconnect" + rrtconnect + true + + + + + "rrtstar" + rrtstar + false + + + + + "sbl" + sbl + false + + + + + "stride" + stride + false + + + + + "trrt" + trrt + false + + + + + + 1668 + 1119 + 152 + 22 + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 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7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 1673.092 + 1150.521 + + + 1859.705 + 1150.521 + + + 1859.705 + 1160.839 + + + 1673.092 + 1160.839 + + A quick note + Microsoft Sans Serif + adbce640-2d56-4dbc-bf23-909c9e057808 + false + Scribble + Scribble + 11 + Resolution (relative to space's extent) + + + + + + 1668.092 + 1145.521 + 196.6133 + 20.31787 + + + 1673.092 + 1150.521 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 1673.092 + 1195.654 + + + 1788.855 + 1195.654 + + + 1788.855 + 1205.972 + + + 1673.092 + 1205.972 + + A quick note + Microsoft Sans Serif + f3967473-cdf1-4ae9-8f9b-b07e19f341f8 + false + Scribble + Scribble + 11 + Metric (1=blocked joint) + + + + + + 1668.092 + 1190.654 + 125.7632 + 20.31787 + + + 1673.092 + 1195.654 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 1673.092 + 1071.841 + + + 1843.373 + 1071.841 + + + 1843.373 + 1086.849 + + + 1673.092 + 1086.849 + + A quick note + Microsoft Sans Serif + df3759b7-2522-4fe9-8adc-44ecb8dcc5b1 + false + Scribble + Scribble + 16 + Additional configuration + + + + + + 1668.092 + 1066.841 + 180.2813 + 25.00781 + + + 1673.092 + 1071.841 + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + 2162739d-9309-4372-8e77-eec1d76aaf49 + Mesh + Collision meshes + false + 0 + + + + + + 1881 + 952 + 94 + 20 + + + 1928.979 + 962.5012 + + + + + + 1 + + + + + 1 + {0} + + + + + + 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+ + + + + \ No newline at end of file diff --git a/compas_fab/pull_394/_downloads/91c9d46556a254416595b6a18c33a364/01_add_collision_mesh.py b/compas_fab/pull_394/_downloads/91c9d46556a254416595b6a18c33a364/01_add_collision_mesh.py new file mode 100644 index 000000000..630fdfd1b --- /dev/null +++ b/compas_fab/pull_394/_downloads/91c9d46556a254416595b6a18c33a364/01_add_collision_mesh.py @@ -0,0 +1,20 @@ +import time +from compas.datastructures import Mesh + +import compas_fab +from compas_fab.backends import PyBulletClient +from compas_fab.robots import CollisionMesh + +with PyBulletClient() as client: + urdf_filepath = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf') + robot = client.load_robot(urdf_filepath) + + mesh = Mesh.from_stl(compas_fab.get('planning_scene/floor.stl')) + cm = CollisionMesh(mesh, 'floor') + client.add_collision_mesh(cm) + + time.sleep(1) + + client.remove_collision_mesh('floor') + + time.sleep(1) diff --git a/compas_fab/pull_394/_downloads/970ac2b032ae20022073bfebb9623a81/docker-compose.yml b/compas_fab/pull_394/_downloads/970ac2b032ae20022073bfebb9623a81/docker-compose.yml new file mode 100644 index 000000000..7a306e3b2 --- /dev/null +++ b/compas_fab/pull_394/_downloads/970ac2b032ae20022073bfebb9623a81/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - rfl_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/9dcd55d6df43e6650222dab2675cbf71/01_ros_hello_world_listener.py b/compas_fab/pull_394/_downloads/9dcd55d6df43e6650222dab2675cbf71/01_ros_hello_world_listener.py new file mode 100644 index 000000000..b5bef0903 --- /dev/null +++ b/compas_fab/pull_394/_downloads/9dcd55d6df43e6650222dab2675cbf71/01_ros_hello_world_listener.py @@ -0,0 +1,17 @@ +import time + +from roslibpy import Topic +from compas_fab.backends import RosClient + + +def receive_message(message): + print('Heard talking: ' + message['data']) + + +with RosClient() as client: + listener = Topic(client, '/chatter', 'std_msgs/String') + + listener.subscribe(receive_message) + + while client.is_connected: + time.sleep(1) diff --git a/compas_fab/pull_394/_downloads/9f7c233dae9a4d7bd960996fd81882c6/docker-compose.yml b/compas_fab/pull_394/_downloads/9f7c233dae9a4d7bd960996fd81882c6/docker-compose.yml new file mode 100644 index 000000000..38622b448 --- /dev/null +++ b/compas_fab/pull_394/_downloads/9f7c233dae9a4d7bd960996fd81882c6/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - ur5_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/a45a25440ef38a6c9ef62212a168ca59/02_robot_artist_rhino.py b/compas_fab/pull_394/_downloads/a45a25440ef38a6c9ef62212a168ca59/02_robot_artist_rhino.py new file mode 100644 index 000000000..66641e070 --- /dev/null +++ b/compas_fab/pull_394/_downloads/a45a25440ef38a6c9ef62212a168ca59/02_robot_artist_rhino.py @@ -0,0 +1,17 @@ +import compas +compas.PRECISION = '12f' + +from compas.robots import * +from compas_rhino.artists import RobotModelArtist + +r = 'ros-industrial/abb' +p = 'abb_irb6600_support' +b = 'kinetic-devel' + +github = GithubPackageMeshLoader(r, p, b) +urdf = github.load_urdf('irb6640.urdf') + +robot = RobotModel.from_urdf_file(urdf) +robot.load_geometry(github) + +RobotModelArtist(robot).draw_visual() diff --git a/compas_fab/pull_394/_downloads/a6cf7f9de92f3684882ec15cbe444447/docker-compose.yml b/compas_fab/pull_394/_downloads/a6cf7f9de92f3684882ec15cbe444447/docker-compose.yml new file mode 100644 index 000000000..940138e40 --- /dev/null +++ b/compas_fab/pull_394/_downloads/a6cf7f9de92f3684882ec15cbe444447/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - abb_irb4600_60_205_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/ae2f8674ee61fd87fdbe0334d628d317/robot-playground.ghx b/compas_fab/pull_394/_downloads/ae2f8674ee61fd87fdbe0334d628d317/robot-playground.ghx new file mode 100644 index 000000000..76b85661a --- /dev/null +++ b/compas_fab/pull_394/_downloads/ae2f8674ee61fd87fdbe0334d628d317/robot-playground.ghx @@ -0,0 +1,15457 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + 254f28a4-5525-4939-a28b-4e063abf6a10 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 636690547726849963 + + 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kinematics + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;133;133;133 + + A group of Grasshopper objects + fd303d42-0bb3-42af-ac6d-94b3f5a61981 + f53916bb-e283-4a58-921d-b615e28794f8 + 39cdda78-de35-4f01-905e-09d656a85004 + e49b72cd-e0ac-4df2-a864-d077fb07d460 + 573563fd-77c9-48b5-af48-5a50c629ab2d + 9245369b-0b87-4909-9a65-048a96dddd26 + 902643c2-082f-4f76-86e6-7a23d78e2bb3 + a46a69b3-adc3-4991-8d8c-3259c1dad65f + 972deeaf-edb5-4660-ad4b-149948fa2fff + 33959c37-4ff6-45e6-bc72-b1aa6acdb676 + 6d5254ad-34c5-4349-b3e2-c0c7b4bc4b0f + 27025624-996a-487e-b261-0dea156ac99e + ce2008c1-1f58-4843-a54a-e650e202117f + c8ed2b0f-feb2-43df-817a-9de5cc277157 + 3cc91f18-5724-4c8b-b5a6-dd391fff8e59 + e2517758-906e-4151-b459-f0d9de1e68b6 + 3b17c969-4332-4fb3-933a-2471f5b722bd + 17 + c21a4750-ae1a-42b2-bf81-03b1ca152158 + Group + inverse kinematics + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + fa24ba9a-eacd-416d-8642-c8019665bb85 + 278d9bbc-e95d-437c-8166-57c141ffe8b0 + eeeb014a-c3ad-49fb-a768-ef3b867324be + a0892dca-7d14-4c64-aba3-786f002af7a0 + f0afa152-a1e7-4086-86ab-66c1e5346f8b + b06fb37f-7310-47c5-aa7c-2d342b4e407d + 70114cf5-639e-442a-aba9-65fd7ee2095c + b37b9f8c-e6e8-4b3f-8197-18ff36ff6da2 + 204f99f2-86e0-4e6e-8ce5-dc983de7fc2c + 9 + 20aab020-adf3-440d-b1b9-71ab5c9acbc5 + Group + ROS client + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + from compas_rhino.utilities.misc import get_tolerance +from compas_rhino.utilities.misc import unload_modules + +from compas_ghpython import unload_modules +unload_modules("compas") +unload_modules("compas_fab") +unload_modules("roslibpy") + GhPython provides a Python script component + + 260 + 260 + + + 967 + 719 + + true + true + e71e419e-01f5-42a1-9931-7c6f79c2d34b + false + true + Python Script + py + + + + + + 199 + 76 + 69 + 30 + + + 254 + 91 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 0 + + + + + true + Script variable Python + aace85df-b683-4ff9-909c-c53bf3369769 + reload + reload + true + 0 + true + 1b7fa61e-bb57-4e18-be64-d29ad8328acd + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 201 + 78 + 38 + 26 + + + 221.5 + 91 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 1b7fa61e-bb57-4e18-be64-d29ad8328acd + Button + reload + false + 0 + + + + + + 83 + 79 + 101 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import math +import Grasshopper +from compas.robots import Joint +from compas.robots import Configuration + +if set_joint_positions: + + j = 0 + for i in range(ghenv.Component.Params.Input.Count): + nslider = ghenv.Component.Params.Input[i].Sources[0] + if nslider.GetType() == Grasshopper.Kernel.Special.GH_NumberSlider: + nslider.TrySetSliderValue(math.degrees(joint_positions[j])) + j += 1 + +if robot: + joint_positions = [a1, a2, a3, a4, a5, a6] + joint_types = robot.get_configurable_joint_types() + for i, joint_type in enumerate(joint_types): + if joint_type == Joint.REVOLUTE: + joint_positions[i] = math.radians(joint_positions[i]) + full_configuration = Configuration(joint_positions, joint_types) + + GhPython provides a Python script component + + 78 + 78 + + + 1317 + 1020 + + true + true + 25d22a6f-bafd-4d12-88dd-ea616c048597 + false + true + Python Script + forward kinematics + + + + + + 2347 + 241 + 225 + 184 + + + 2460 + 333 + + + + + + 9 + 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 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 7fca8365-1aff-437c-9ce2-6d99a13c6508 + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2349 + 243 + 96 + 20 + + + 2398.5 + 253 + + + + + + + + true + Script input set_joint_positions. + 8fae7591-2f97-4072-b82b-f53ab1bfc7ae + set_joint_positions + set_joint_positions + true + 0 + true + d6f7c354-b379-422b-879f-7ad60db25518 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 2349 + 263 + 96 + 20 + + + 2398.5 + 273 + + + + + + + + 1 + true + Script input joint_positions. + 55283113-3985-412b-9e4f-55dacaf0dcfb + joint_positions + joint_positions + true + 1 + true + 156f38a4-a317-4de4-9e6a-108398fd37f7 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2349 + 283 + 96 + 20 + + + 2398.5 + 293 + + + + + + + + true + Script input a1. + aa91967f-0c04-446d-baec-a31728813220 + a1 + a1 + true + 0 + true + 1b81f1af-3f79-45c4-9476-fe8c8a9dff87 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2349 + 303 + 96 + 20 + + + 2398.5 + 313 + + + + + + + + true + Script input a2. + 1fecfe6f-37ac-444c-95ff-8a075c0180cb + a2 + a2 + true + 0 + true + 4cff8f0b-d7a8-43f7-a804-c283af215c4c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2349 + 323 + 96 + 20 + + + 2398.5 + 333 + + + + + + + + true + Script input a3. + 61732a1a-5945-471f-868a-774593957f52 + a3 + a3 + true + 0 + true + 689215aa-1d5c-4161-8a4f-e82991993147 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2349 + 343 + 96 + 20 + + + 2398.5 + 353 + + + + + + + + true + Script input a4. + 64949833-c4d9-4461-8eed-2eae1652006a + a4 + a4 + true + 0 + true + 8416b72d-e2c7-4e7e-8413-606f6fa47796 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2349 + 363 + 96 + 20 + + + 2398.5 + 373 + + + + + + + + true + Script input a5. + 90bce8c8-77b8-43f3-9a5a-b44ba9efc83b + a5 + a5 + true + 0 + true + fd85ffd7-eac9-4625-9029-ac006f95d992 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2349 + 383 + 96 + 20 + + + 2398.5 + 393 + + + + + + + + true + Script input a6. + 9dea50a6-a08b-47dc-a56d-929314701726 + a6 + a6 + true + 0 + true + 9cc3d872-f070-4a23-b7e5-1f08d985c2d3 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2349 + 403 + 96 + 20 + + + 2398.5 + 413 + + + + + + + + Script output full_configuration. + a4221929-eaed-4728-a0eb-8d4d0d4594c1 + full_configuration + full_configuration + false + 0 + + + + + + 2475 + 243 + 95 + 180 + + + 2522.5 + 333 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 1b81f1af-3f79-45c4-9476-fe8c8a9dff87 + Number Slider + a1 + false + 0 + + + + + + 2037 + 288 + 227 + 20 + + + 2037.465 + 288.0232 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 90.01958 + 142.5381 + + + 208.0748 + 142.5381 + + + 208.0748 + 172.3672 + + + 90.01958 + 172.3672 + + A quick note + Arial + 95fc823e-9984-4ed3-ab9f-e5d5b14efa98 + false + Scribble + Scribble + 41 + Robot + + + + + + 85.01958 + 137.5381 + 128.0552 + 39.8291 + + + 90.01958 + 142.5381 + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + c7f8da5e-4847-4d6a-84ce-974c74fd230b + Data + robot + false + f979e499-cc97-426c-9ff9-8f773c10cf85 + 1 + + + + + + 604 + 546 + 50 + 20 + + + 629.4113 + 556.0046 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 9b3cbd56-42b2-432b-8212-76f874ee84fe + 5f732c3a-3fa7-4ccb-b165-aedbf736a624 + 7b279625-b2ec-4866-8c2e-b5cd5304b5fc + fe6c1d5a-1e70-42a9-86d4-49550602f4be + d546900d-eccd-43dd-a4e3-02e090309597 + 5c9a2cf1-d287-4b54-95dc-f64bc7e489d1 + 34cec146-a15f-4660-ab2e-05e0dd646833 + 16042d38-d8f7-4fb5-9a93-245fc82b6f0b + 34bc32ac-e1f0-4fbe-8177-a76181477691 + c0d8eb5b-306a-48f6-9576-4da067d5f746 + 6833b4c4-c4dd-49d4-85ec-96eb473c6565 + 9d856649-32ef-4307-a36f-e6fdf4411dad + 647192de-6731-4001-a550-a7bb64e7b4dd + deb98de4-9ccd-4fd0-aaff-0ff7c8a1888a + 2cc05e7d-1304-4686-b8c3-b64ab7a6576c + 1b8eefa5-318f-4238-ad73-6e333116ec5d + 658b680c-d715-4c4e-ab69-f2cac1a27fec + 7e52a138-26d3-4ede-9534-5e36da5cf0bb + f0f11867-4b30-4131-b76a-c0b259213863 + 9c02e436-53dc-42d1-ad1f-088b73b5ab35 + 66a5123a-695b-4310-8871-0924a2e545aa + 15de06b3-21f7-4781-9533-a21cde643b2b + 359073c2-7d54-43ee-b79f-541624831879 + 1ccc9c49-e39b-42f2-b19b-9655e2617f96 + 6c5e3139-e0ba-4d8c-807f-1b000ac11869 + 705221ac-23ec-4064-b979-31568adab126 + cd0faa70-db46-4f75-88ed-3cf54981bb53 + 15d4a881-525a-4c3a-a5c0-0ceebe2bdb87 + f81ad674-aca3-4510-9fcf-14cd56c9144b + ec364427-4632-4580-a5ae-7b3f1ffd4622 + de217ebc-7ca7-48aa-b897-2c5fe30cc707 + a446aa93-7438-4afe-acc3-336e398535f1 + 22c4b412-f738-4e12-a694-d490bdf6e42a + 06c03af4-3049-42a0-a430-071a84302d23 + f5566d43-040e-4af9-a5d3-74f5052b748c + d24d5caa-39b0-49d8-87a1-e1e8593054ec + 147a563c-fc7c-4a47-90db-7da557d41411 + da249536-c8c4-48ab-9398-bfbdd60c8aab + 17247fd0-fcce-482c-97b8-ba0f96540579 + b26cb4fc-26b9-4a1e-b40a-569e24cb5238 + 0931eac6-365f-4a7a-86dd-4f50d3f30b80 + fca06c26-f348-4faa-9c4d-3ab2d2e0ba73 + 12d89d98-1903-4c41-8695-87603697f4a9 + d2b0bf6d-5330-43b3-9b1a-f3d61cc0ca38 + d5b48afe-402c-48b5-8ed0-867c5582dcd3 + f710a46a-804a-4d6f-8c6f-ccbb543beadb + edba7503-689f-4efb-afce-e44cd8e06271 + d8678bc9-86e6-4417-8f4d-d18cf57b17a1 + e7b7fe53-3cfb-453c-a197-a7afc0c9d4dd + cd1113be-4c5e-43cf-89f4-3bfec05d1b55 + 2f8fa55d-ff2f-4145-9fdb-42346f54251b + a96def9e-37d4-4a46-abea-05544402c8ae + 56927d36-1140-4116-8877-72a5df1eef1b + ccd576b9-c02e-4086-ace0-1123e03a9403 + f5032a5a-7f43-463c-be35-53fb6d7e593c + ab4261a1-cc88-4157-a8f6-1a04e08260b5 + 819ce1a7-3650-40b9-a285-a7e5793a2318 + 1a05be26-dc33-4d33-a3cf-3ce1f9d53179 + 54f69083-9f65-4ad5-a0df-c2e648be7f71 + db3c817d-66d7-4f78-a30d-7640db120aa1 + 77ad3ede-ad90-4979-82e8-5da65398b04b + 095333d4-4aa8-47ac-b242-6b2aefffbc50 + a11a9cbc-2779-42c6-b6bd-c0de4194cf0f + 9e4c0039-0c61-4729-836e-47e552d87241 + a1986b73-ca01-43ab-9118-28c3ffb5a828 + 001ab623-a381-4533-b8c5-2680874f5822 + 075ef5d3-a5ee-420b-9bd1-5581266db93c + bd49b3cd-a3c6-417b-9200-dc2d7221e7ee + ce684f83-2132-42e1-810d-3fb63faebb88 + 0ec706fd-e3ec-4d54-9ad4-3a79fe8418f6 + b736f1e4-9ae8-4a0a-a0f5-14f0bd932cfb + ca1455bb-564b-409f-ada8-ac4f60f17b12 + bf5b496c-5c1a-45bf-bbd7-24da09d88ce4 + 142d6ffc-c5d1-41de-a896-3f29bc91a03d + 983f9170-54bb-4e10-bb3b-890d614c3127 + be1f31bd-97ca-40df-addb-74e45e5861c3 + 8ec80426-fd35-4c6c-b13c-7e3132b24f8e + d801c5d0-4135-488f-ab55-0d68f7d8f476 + 864d898d-6f8b-4aad-ac6e-40c89c481ff0 + 29c1cb64-f8f2-4154-be6a-da8fa37fd473 + 166accee-f5ea-4558-b3c4-8629748d034d + c6c5fa0c-a536-4934-8519-ccf200a699db + c85007a6-26c6-4248-8885-7515510388f8 + 1c77c8a7-fca1-4daa-90d8-b38a1b5b07a2 + 3ba62fff-92d5-4885-afa6-0afe16b69573 + 8030f56d-c9ef-4de9-b92c-ae606e9f79a6 + 0827d4c9-7e90-43e4-b435-6acabe2eaa6a + dbfc528f-ef9f-465a-acfe-ac261f8249a9 + 16886dc1-db1f-4474-af73-361f5c260ebc + f561649e-3605-4509-b845-df80a9b2adf1 + 128a8531-6f3b-4a34-bf54-94bbbd4057ad + 8f0c3e27-f0d6-4ed0-a6f6-fac27db537b8 + c8c9499c-d4e5-4b17-886d-26b1ec4a68ed + 93 + 416f1481-1998-41a5-94a5-52dfeb8fad5c + Group + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 3412.177 + 97.65514 + + + 3668.407 + 97.65514 + + + 3668.407 + 127.4842 + + + 3412.177 + 127.4842 + + A quick note + Arial + e7b7fe53-3cfb-453c-a197-a7afc0c9d4dd + false + Scribble + Scribble + 41 + Visualisation + + + + + + 3407.177 + 92.65514 + 266.23 + 39.82911 + + + 3412.177 + 97.65514 + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 4cff8f0b-d7a8-43f7-a804-c283af215c4c + Number Slider + a2 + false + 0 + + + + + + 2038 + 315 + 227 + 20 + + + 2038.771 + 315.678 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 689215aa-1d5c-4161-8a4f-e82991993147 + Number Slider + a3 + false + 0 + + + + + + 2039 + 339 + 227 + 20 + + + 2039.395 + 339.1638 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 0 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 8416b72d-e2c7-4e7e-8413-606f6fa47796 + Number Slider + a4 + false + 0 + + + + + + 2038 + 363 + 227 + 20 + + + 2038.022 + 363.4199 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + -93 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + fd85ffd7-eac9-4625-9029-ac006f95d992 + Number Slider + a5 + false + 0 + + + + + + 2037 + 385 + 227 + 20 + + + 2037.746 + 385.1033 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + -7 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 9cc3d872-f070-4a23-b7e5-1f08d985c2d3 + Number Slider + a6 + false + 0 + + + + + + 2037 + 409 + 227 + 20 + + + 2037.345 + 409.7033 + + + + + + 3 + 1 + 1 + 360 + -360 + 0 + 90 + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + a0892dca-7d14-4c64-aba3-786f002af7a0 + Button + connect + false + 0 + + + + + + 117 + 316 + 109 + 22 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + f0afa152-a1e7-4086-86ab-66c1e5346f8b + Button + disconnect + false + 0 + + + + + + 107 + 346 + 122 + 22 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 105.1833 + 197.6202 + + + 314.8078 + 197.6202 + + + 314.8078 + 227.9898 + + + 105.1833 + 227.9898 + + A quick note + Arial + b06fb37f-7310-47c5-aa7c-2d342b4e407d + false + Scribble + Scribble + 41 + ROS client + + + + + + 100.1833 + 192.6202 + 219.6245 + 40.36963 + + + 105.1833 + 197.6202 + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 9175fa87-db4c-42b3-bbd2-a4a3cf66bcbb + Point + Pt + false + 0 + + + + + + 1635 + 702 + 50 + 20 + + + 1660.636 + 712.8709 + + + + + + 1 + + + + + 1 + {0} + + + + + + + -0.106387681966372 + 0.552381077338044 + 2.66453525910038E-15 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if robot and client: + robot.client = client + GhPython provides a Python script component + + 26 + 26 + + + 558 + 585 + + true + true + f616ee6f-d877-4c44-9b28-8046a27f567f + false + true + Python Script + set + + + + + + 391 + 613 + 105 + 44 + + + 442 + 635 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + c9577b6c-a394-47c7-9fc2-fe9375f41903 + robot + robot + true + 0 + true + e3abccb8-3d45-4076-84ea-7ac0cbea646f + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 393 + 615 + 34 + 20 + + + 411.5 + 625 + + + + + + + + true + Script input client. + 899209bf-d0d9-443e-9b08-0fe624b6b8bf + client + client + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 393 + 635 + 34 + 20 + + + 411.5 + 645 + + + + + + + + Script output robot. + 49d2441f-c871-4eb8-8c6c-ceb14501d36a + robot + robot + false + 0 + + + + + + 457 + 615 + 37 + 40 + + + 475.5 + 635 + + + + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 2010.61 + 94.35499 + + + 2281.955 + 94.35499 + + + 2281.955 + 132.8325 + + + 2010.61 + 132.8325 + + A quick note + Arial + 292f1dac-920d-4ad4-a4c2-64d917523fac + false + Scribble + Scribble + 41 + Configuration + + + + + + 2005.61 + 89.35499 + 281.3446 + 48.47753 + + + 2010.61 + 94.35499 + + + + + + + + + + eeafc956-268e-461d-8e73-ee05c6f72c01 + Stream Filter + + + + + Filters a collection of input streams + 2 + ce684f83-2132-42e1-810d-3fb63faebb88 + Stream Filter + Filter + + + + + + 3423 + 182 + 77 + 104 + + + 3455 + 234 + + + + + + 5 + 2e3ab970-8545-46bb-836c-1c11e5610bce + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + Index of Gate stream + 1ab12ebe-125b-4fa6-aabc-bded4ff65076 + Gate + G + false + 0ec706fd-e3ec-4d54-9ad4-3a79fe8418f6 + 1 + + + + + + 3425 + 184 + 15 + 20 + + + 3434 + 194 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + 2 + Input stream at index 0 + d2007dc7-e8ce-4675-9cec-8d988c42b15d + false + Stream 0 + 0 + true + a4221929-eaed-4728-a0eb-8d4d0d4594c1 + 1 + 1 + + + + + + 3425 + 204 + 15 + 20 + + + 3434 + 214 + + + + + + + + 2 + Input stream at index 1 + f3edfe75-5280-4282-9540-284fa3ffe0ae + false + Stream 1 + 1 + true + bb1a39f9-ee71-457f-8ac9-3be221b20e76 + 1 + 1 + + + + + + 3425 + 224 + 15 + 20 + + + 3434 + 234 + + + + + + + + 2 + Input stream at index 2 + 5e607ed9-462e-4552-8188-d134658b15dc + false + Stream 2 + 2 + true + 418b7182-d840-4cc3-9cc1-60e0eb166726 + 1 + 1 + + + + + + 3425 + 244 + 15 + 20 + + + 3434 + 254 + + + + + + + + 2 + Input stream at index 3 + 29cee756-ba8b-47d4-b9d5-a40c9d46f62f + false + Stream 3 + 3 + true + 32b5ad7c-4faa-415a-bd29-fbf1e8716d1f + 1 + 1 + + + + + + 3425 + 264 + 15 + 20 + + + 3434 + 274 + + + + + + + + 2 + Filtered stream + f6c1f50d-f8f3-462a-b6e9-c58084de2b1c + false + Stream + S(0) + false + 0 + + + + + + 3470 + 184 + 28 + 100 + + + 3484 + 234 + + + + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + 0ec706fd-e3ec-4d54-9ad4-3a79fe8418f6 + 4 + 2 + Value List + List + false + 0 + + + + + 0 + 0 forward_kinematics + true + + + + + 1 + 1 inverse_kinematics + false + + + + + 2 + 2 cartesian motion + false + + + + + 3 + 3 free-space motion + false + + + + + + 3416 + 152 + 160 + 22 + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + b736f1e4-9ae8-4a0a-a0f5-14f0bd932cfb + Panel + + false + 0 + 0 + Select configuration input: from fk, ik, path, or from real robot + + + + + + 3617 + 183 + 160 + 89 + + 0 + 0 + 0 + + 3617.135 + 183.4958 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 6.4 + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if robot: + robot.info() + main_group_name = robot.main_group_name + GhPython provides a Python script component + + 246 + 44 + + + 1117 + 1021 + + true + false + 3ddbd737-bdb2-4dc5-8799-e3853366e981 + false + true + Python Script + info + + + + + + 728 + 255 + 168 + 44 + + + 779 + 277 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 3ede854e-c753-40eb-84cb-b48008f14fd4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + b9546fe3-3914-4460-8e98-3b4216d677d9 + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 730 + 257 + 34 + 40 + + + 748.5 + 277 + + + + + + + + The execution information, as output and error streams + 6cc9849d-ea1c-4b5a-b7b9-ea888164b07e + out + out + false + 0 + + + + + + 794 + 257 + 100 + 20 + + + 844 + 267 + + + + + + + + Script output main_group_name. + 74e8bfa4-62e3-42e5-b584-7cd30d44e1b9 + main_group_name + main_group_name + false + 0 + + + + + + 794 + 277 + 100 + 20 + + + 844 + 287 + + + + + + + + + + + + + + 3ede854e-c753-40eb-84cb-b48008f14fd4 + Text + + + + + Contains a collection of text fragments + 45c21eda-739f-4d92-8a49-4abe25885103 + Text + main_planning_group + false + 74e8bfa4-62e3-42e5-b584-7cd30d44e1b9 + 1 + 2 + + + + + + 2020 + 158 + 118 + 20 + + + 2079.409 + 168.5719 + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 871f2e5e-3b6d-4264-8111-5c0778d909d1 + Panel + + false + 0 + 6cc9849d-ea1c-4b5a-b7b9-ea888164b07e + 1 + Double click to edit panel content… + 1 + + + + + + 911 + 180 + 597 + 327 + + 0 + 0 + 0 + + 911.9167 + 180.7009 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 729.7427 + 128.5163 + + + 772.106 + 128.5163 + + + 772.106 + 146.2702 + + + 729.7427 + 146.2702 + + A quick note + Arial + 4aedfe14-0e64-42c8-a0aa-8a25ac68a1ee + false + Scribble + Scribble + 24 + Info + + + + + + 724.7427 + 123.5163 + 52.36328 + 27.75391 + + + 729.7427 + 128.5163 + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + ec8410c9-444c-4256-9b0e-34c5d35356e1 + 3 + 1 + Value List + units + false + 0 + + + + + 1 + m + true + + + + + 100 + cm + false + + + + + 1000 + mm + false + + + + + + 120 + 596 + 93 + 22 + + + 158 + 596 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import os +from scriptcontext import sticky as st + +import compas +from compas_fab.robots.ur5 import Robot +from compas_ghpython.artists import RobotModelArtist + +compas.PRECISION = '12f' + +# store robot in component +guid = str(ghenv.Component.InstanceGuid) +robot_key = "robot_" + guid + +if robot_key not in st: + st[robot_key] = None + +if load: + robot = Robot(load_geometry=True) + robot.artist = RobotModelArtist(robot.model) + st[robot_key] = robot + robot.scale(scale_factor) + +robot = st[robot_key] + + + + + + + + + + GhPython provides a Python script component + + 52 + 52 + + + 1167 + 991 + + true + true + 98ccf8cd-e467-41fd-8488-a1ea688af444 + false + true + Python Script + create + + + + + + 241 + 598 + 134 + 54 + + + 321 + 625 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script input scale_factor. + 9381b03c-6e20-4170-bc32-358c1c2bad7c + scale_factor + scale_factor + true + 0 + true + ec8410c9-444c-4256-9b0e-34c5d35356e1 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 243 + 600 + 63 + 25 + + + 276 + 612.5 + + + + + + + + true + Script input load. + 81967a23-db93-49a6-a87b-35c5d82860d8 + load + load + true + 0 + true + d3ed682a-922b-4880-bb45-689b475a9f2c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 243 + 625 + 63 + 25 + + + 276 + 637.5 + + + + + + + + Script output robot. + e3abccb8-3d45-4076-84ea-7ac0cbea646f + robot + robot + false + 0 + + + + + + 336 + 600 + 37 + 50 + + + 354.5 + 625 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + d3ed682a-922b-4880-bb45-689b475a9f2c + Button + load + false + 0 + + + + + + 114 + 626 + 91 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + from compas.robots import Configuration + +if robot: + types = robot.get_configurable_joint_types() + values = [0] * len(types) + configuration = Configuration(values, types) + print configuration + print robot.get_configurable_joint_names() + + GhPython provides a Python script component + + -4 + 382 + + + 1374 + 777 + + true + true + 972deeaf-edb5-4660-ad4b-149948fa2fff + false + true + Python Script + py + + + + + + 2034 + 574 + 143 + 30 + + + 2085 + 589 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 37a5e7f8-8193-4111-866f-89162c4b38e6 + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + 2 + + + + + + 2036 + 576 + 34 + 26 + + + 2054.5 + 589 + + + + + + + + Script output configuration. + 18c8dc9c-d9a9-4378-b723-03d5d23e40cf + configuration + configuration + false + 0 + + + + + + 2100 + 576 + 75 + 26 + + + 2137.5 + 589 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;255;255;255 + + A group of Grasshopper objects + 1c3aa040-ab17-4e5a-9111-e9845ba6d24d + 3e94f7ae-02f7-4b28-83ad-f3e36e6e7a5d + 827e1a4f-a850-451c-946b-a9cbe2279cb6 + 2e63d6a3-55dc-4f6a-9cf4-0f4351ed2489 + 4 + 3d95e3fa-d2f0-49a9-8008-20e0a49cb5c2 + Group + forward kinematics + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + """Calculate the robot's forward kinematic. + Inputs: + robot: :class:`compas_fab.robots.Robot` + The robot. + group: str, optional + The planning group used for calculation. Defaults to the robot's + main planning group. + full_configuration : :class:`compas_fab.robots.Configuration` + The full configuration to calculate the forward kinematic for. If no + full configuration is passed, the zero-joint state for the other + configurable joints is assumed. + Output: + :class:`Frame` + The frame in the world coordinate frame (WCF). +""" +from __future__ import print_function +import logging + +LOGGER = logging.getLogger('roslibpy') + +if robot and robot.client and full_configuration: + if robot.client.is_connected: + frame_WCF = robot.forward_kinematics(full_configuration, group, options={'solver':'model'}) + print(frame_WCF) + else: + print("Robot is not connected") + + Calculate the robot's forward kinematic. + + 130 + 130 + + + 1390 + 872 + + true + false + 1c3aa040-ab17-4e5a-9111-e9845ba6d24d + false + true + Python Script + forward + + + + + + 2666 + 292 + 191 + 65 + + + 2775 + 325 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 3ede854e-c753-40eb-84cb-b48008f14fd4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + :class:`compas_fab.robots.Robot` +The robot. + ccfdb042-9cbb-4e4e-a4b4-2553950eaabd + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2668 + 294 + 92 + 20 + + + 2715.5 + 304.1667 + + + + + + + + true + str, optional +The planning group used for calculation. Defaults to the robot's +main planning group. + 328f58ff-5612-4a69-812b-743fc06a0c7e + group + group + true + 0 + true + 45c21eda-739f-4d92-8a49-4abe25885103 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2668 + 314 + 92 + 20 + + + 2715.5 + 324.5 + + + + + + + + true + :class:`compas_fab.robots.Configuration` +The full configuration to calculate the forward kinematic for. If no +full configuration is passed, the zero-joint state for the other +configurable joints is assumed. + 7e7fcb0b-67ff-4c31-8ec9-d754e6d86a55 + full_configuration + full_configuration + true + 0 + true + a4221929-eaed-4728-a0eb-8d4d0d4594c1 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 2668 + 334 + 92 + 21 + + + 2715.5 + 344.8333 + + + + + + + + The execution information, as output and error streams + 1999dec8-54d1-4ceb-ac8b-275afe2ec68f + out + out + false + 0 + + + + + + 2790 + 294 + 65 + 30 + + + 2822.5 + 309.25 + + + + + + + + Script output frame_WCF. + 5dfd6393-a081-4f0e-9a16-865add03c179 + frame_WCF + frame_WCF + false + 0 + + + + + + 2790 + 324 + 65 + 31 + + + 2822.5 + 339.75 + + + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 827e1a4f-a850-451c-946b-a9cbe2279cb6 + Panel + + false + 0 + 1999dec8-54d1-4ceb-ac8b-275afe2ec68f + 1 + Double click to edit panel content… + + + + + + 2905 + 280 + 168 + 95 + + 0 + 0 + 0 + + 2905.043 + 280.8649 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;138;138;138 + + A group of Grasshopper objects + 8596ac43-db80-4ee4-a761-1dc7cff5c285 + 8083aa34-197d-4e08-bfdd-a049c3e7b575 + be8ed0a3-9f23-4b92-b885-337872555b97 + 87028911-dddd-4769-bf65-b0e07c9c1b6f + bde05847-097a-41d7-b484-c34f2f37bff5 + 14862f96-5df6-4872-8cb3-07e6de3ae59b + 1f9e12f8-bfbc-4266-8c2a-5da569e44e77 + ac99f3bd-01d9-4c98-8564-a5259d8edce5 + 399ff1c8-46ec-4815-b188-0c654026c8ca + e73ada9b-773a-400b-814e-103c071dacd8 + 7cfaf449-e987-4477-bed8-7a77e2194502 + 53dc0998-0596-4cd1-91af-117c7c83520b + 0d5f6df8-8792-40b5-aeda-f6b808200a34 + 64f2bf10-ff50-4e87-8362-4322f340035d + 9dc927db-883d-4a72-82c0-f835028f8a4b + 2ea69d7b-e715-4263-ae4f-9a7216bf2c6c + 01d9980d-1477-4f6a-bb91-a67ff0e4568c + 8cc102cf-4a6b-44f9-8294-c61aba4838aa + 4775fe21-a2ce-4800-ac9b-ee18cb22b045 + 4bb43535-b713-43ff-9f68-12bf668e7b57 + cdc702d6-a20a-455b-be71-85ae9703c319 + a66e27a6-9758-4520-b2ae-d6b0a1b71b1b + e9f85f5e-0e60-4013-8aad-ff0c375e607f + 24b8cea0-1a71-4a84-bbad-c36de3842f24 + b63cc8f7-2f48-4cce-b960-91e8a3f13b75 + 5ecc080e-ff94-45e3-a63a-499f43340f6f + c2307b1b-9696-4d62-834b-194e07a61a7a + 3891b8c9-dbd2-4487-aae3-32c455c43d51 + 1c3ef675-dcab-441c-80f8-4c141f933b45 + 7c9c6232-463a-4098-a7fe-89ddb864c294 + 8da84bca-b802-4f72-b586-8826efdde944 + 33a4a2ec-96ef-44dc-abe5-31c839ab1a86 + 41c16955-3829-402e-aad9-2d297f6e3981 + 23e8f8e8-5924-4bfc-b08f-eecf63585276 + f24ed71e-95ae-4ca8-8b62-934d0a85cd29 + c25b52c5-5a4a-453f-9db4-3b1efe137d15 + 8aac40cd-40ab-4982-9d33-a3d4d52c48cc + cd161ae8-c79f-410e-bfbc-e908999c7d30 + bc181b68-0f8e-4c61-af9b-801d3df43d0c + 2c0116f3-1558-46b5-ad22-adccc5926764 + 65761dc9-243b-4d5e-bd18-030ef3916053 + c2e6f63f-fb16-435b-aa80-e3e0be6a6123 + cd8aec51-c07c-495f-aec2-9d86f00f26ed + 64f1ba8d-e546-4d8b-9f53-33d6bbe00077 + e2df5222-ed8b-45bc-a3e8-95c4eb5498c9 + d67adcb3-fe97-45af-b938-778116cff976 + 003af85f-bc08-4252-b00b-ef0e17d458c1 + b38a11b4-5809-4643-aad0-264fe63898c8 + 733b4e1c-5196-416c-bf3e-52ce85081b13 + 75104a29-44bd-45e2-8d08-77cbfbb08f43 + e960764a-0d32-428b-b33d-e664cca791fe + 9d3c9436-a792-438e-a2ee-b1f74c1f3366 + b09aaa44-3f1f-4bb0-b9a4-d2b5ce761b30 + b3ac1df1-d782-4a65-9d41-255386dc2de4 + 8eb833bc-241d-412c-9384-3ce6f692c1b6 + f2047d4b-e514-4a8e-bb33-6062055d0de9 + e70abb61-731f-4734-ad77-be603406c3ba + 964f2efc-e60f-4e49-a50b-6f3162b54715 + 38e6dde5-ef72-4990-8bd5-b446262b02bb + 59 + 4c54ea89-14a7-4821-9fd6-11e2a39f4dc3 + Group + cartesian motion + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 399ff1c8-46ec-4815-b188-0c654026c8ca + Boolean Toggle + avoid_collisions + false + 0 + true + + + + + + 2282 + 991 + 145 + 22 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 7cfaf449-e987-4477-bed8-7a77e2194502 + Button + compute + false + 0 + + + + + + 2112 + 1110 + 113 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + planes = [start_plane, end_plane] +print planes + GhPython provides a Python script component + + 182 + 182 + + + 558 + 585 + + true + true + true + cdc702d6-a20a-455b-be71-85ae9703c319 + false + true + Python Script + py + + + + + + 2276 + 815 + 135 + 44 + + + 2353 + 837 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 9f6bf4e9-195a-46f4-ad3d-d77477e754da + start_plane + start_plane + true + 0 + true + 5749f7c1-2af4-4c2e-8a9f-6f3575116f44 + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + 1 + + + + + + 2278 + 817 + 60 + 20 + + + 2309.5 + 827 + + + + + + + + true + Script input end_plane. + a4192fa6-3b49-4ba8-a0c0-53d6f5cceca4 + end_plane + end_plane + true + 0 + true + c4cbbc81-783f-419c-8a78-37487e8340e5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 1 + + + + + + 2278 + 837 + 60 + 20 + + + 2309.5 + 847 + + + + + + + + Script output planes. + 53cb7b3d-dd2c-415e-b7fc-f29fae8717d5 + planes + planes + false + 0 + + + + + + 2368 + 817 + 41 + 40 + + + 2388.5 + 837 + + + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 24b8cea0-1a71-4a84-bbad-c36de3842f24 + Panel + fraction + false + 0 + 608472ae-5f51-476e-bb5f-65740ae75299 + 1 + Double click to edit panel content… + 1 + + + + + + 2779 + 987 + 186 + 39 + + 0 + 0 + 0 + + 2779.83 + 987.5273 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 6.4 + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + 1a90cfcb-b335-48d4-be46-fc2c47108e60 + Point + Pt + false + 0 + + + + + + 1630 + 944 + 50 + 20 + + + 1655.607 + 954.8646 + + + + + + 1 + + + + + 1 + {0} + + + + + + + 0.19715667129381 + 0.505477735506016 + 0.411465947469346 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + from compas.robots import Configuration + +if robot: + types = robot.get_configurable_joint_types() + values = [0] * len(types) + + configuration = Configuration(values, types) + print configuration + + GhPython provides a Python script component + + 208 + 208 + + + 1374 + 777 + + true + true + 7c9c6232-463a-4098-a7fe-89ddb864c294 + false + true + Python Script + py + + + + + + 2162 + 934 + 143 + 30 + + + 2213 + 949 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 66ea6309-3253-4ec0-8948-e88ff9fb9cec + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + 2 + + + + + + 2164 + 936 + 34 + 26 + + + 2182.5 + 949 + + + + + + + + Script output configuration. + a9bfbb46-28f3-4e2c-8580-3681c89400fb + configuration + configuration + false + 0 + + + + + + 2228 + 936 + 75 + 26 + + + 2265.5 + 949 + + + + + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + 8da84bca-b802-4f72-b586-8826efdde944 + Data + start_configuration + false + bb1a39f9-ee71-457f-8ac9-3be221b20e76 + 1 + 1 + + + + + + 2200 + 909 + 104 + 20 + + + 2252.093 + 919.179 + + + + + + + + + + eeafc956-268e-461d-8e73-ee05c6f72c01 + Stream Filter + + + + + Filters a collection of input streams + 2 + 33a4a2ec-96ef-44dc-abe5-31c839ab1a86 + Stream Filter + Filter + + + + + + 2350 + 897 + 77 + 64 + + + 2382 + 929 + + + + + + 3 + 2e3ab970-8545-46bb-836c-1c11e5610bce + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + Index of Gate stream + 40993bba-7f38-4a28-a869-e1816ba86044 + Gate + G + false + 41c16955-3829-402e-aad9-2d297f6e3981 + 1 + + + + + + 2352 + 899 + 15 + 20 + + + 2361 + 909 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + 2 + Input stream at index 0 + 20231a39-2789-4427-a45f-370c6ab080a2 + false + Stream 0 + 0 + true + 8da84bca-b802-4f72-b586-8826efdde944 + 1 + + + + + + 2352 + 919 + 15 + 20 + + + 2361 + 929 + + + + + + + + 2 + Input stream at index 1 + ce4f2c6a-7768-42ce-8523-612495cfed10 + false + Stream 1 + 1 + true + a9bfbb46-28f3-4e2c-8580-3681c89400fb + 1 + + + + + + 2352 + 939 + 15 + 20 + + + 2361 + 949 + + + + + + + + 2 + Filtered stream + 088ac40a-fee9-42dc-b977-633eb19b079c + false + Stream + S(0) + false + 0 + + + + + + 2397 + 899 + 28 + 60 + + + 2411 + 929 + + + + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + 41c16955-3829-402e-aad9-2d297f6e3981 + 2 + 1 + Value List + List + false + 0 + + + + + 0 + 0 + true + + + + + 1 + 1 + false + + + + + + 2246 + 878 + 52 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;138;138;138 + + A group of Grasshopper objects + 8596ac43-db80-4ee4-a761-1dc7cff5c285 + 8083aa34-197d-4e08-bfdd-a049c3e7b575 + 49c99e9b-2e4d-4d82-8a48-d645f57f6f82 + 87028911-dddd-4769-bf65-b0e07c9c1b6f + bde05847-097a-41d7-b484-c34f2f37bff5 + 14862f96-5df6-4872-8cb3-07e6de3ae59b + 1f9e12f8-bfbc-4266-8c2a-5da569e44e77 + 900683e3-1aea-4f8d-9e7c-e88f2cbe34de + 689dbd80-8240-46ee-9ca9-3f8348d5bd33 + e73ada9b-773a-400b-814e-103c071dacd8 + 2e98940e-c125-482d-b4d1-a656dc2a60e6 + 53dc0998-0596-4cd1-91af-117c7c83520b + f077ba3b-5c8e-4f8e-a656-84e09bb9623e + 4b8c657c-b82f-43cb-ad2d-5e1587d6f670 + 909e9c37-8c90-410a-be96-925a1ddef5e7 + 9a8edb2c-3327-4ddf-8912-52707e5295c5 + 01d9980d-1477-4f6a-bb91-a67ff0e4568c + 8cc102cf-4a6b-44f9-8294-c61aba4838aa + 4775fe21-a2ce-4800-ac9b-ee18cb22b045 + 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a0f3d502-8d86-4fa7-9cff-3ee28f3fa711 + 6afabbec-c299-41aa-a0e2-d8185ed7e11e + 34db8fed-e4d6-4766-a885-21da626574e6 + 06874fd2-8db3-456e-820b-82d740d47815 + 1fcd8147-1a3b-4a48-98f2-0104cf90b6b5 + 28f56fa8-42ac-4c9b-8677-c7dda8b71c8c + 18a5e595-84ca-4d11-9939-e655bde80d89 + 39901443-aa14-4ed6-9e1b-da09ebc0fafa + efe151e7-41db-4d06-aad7-c0144b16a5c5 + 47da5ac5-45ff-4e3b-8751-f81bcaca2184 + c6364ccc-118a-4787-b1ab-7f587548ed10 + 1c417669-4c93-4d7c-ac35-c45da55f7b35 + 6a9f2dd4-a605-468a-8209-57a8e1f56fb9 + 80e78538-ad35-429c-8adb-d83bb1d0206a + 161aa446-2161-4553-b5a6-fc1eaa64a124 + 18e2f3eb-f59c-4a67-a3a0-bad36570d161 + c1abe130-4be1-4b01-bb3c-2fbe9ae2fe03 + 28493de7-1025-4663-b1d7-09d55c1f0dda + ba4f65e6-5bfc-4956-a542-e82618a4645c + 927bf5c7-1bce-42c9-8fbd-5726b6286972 + 3dd531dc-214f-4898-a927-b15007d8bee8 + 481a194f-1740-4c9b-85da-d92118c5df38 + 2e884c46-7eee-4397-90cc-2da840a40594 + 00eddb3b-2d51-426e-8942-a77624a20bae + 93 + 7fa438aa-39e8-4c36-8415-c8067645574d + Group + plan motion 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Y2BkYGD4DwQgGgR4mIBEeFBGZl6+c35ubn6ejkJYalFxZn6erZmesaGekYGxoameobmBgaGOgnNpTklpUaptXmppSVFijo5CQGlSTmayd2plSH52ap6tqamRkYVhqqV5srmpqamxASvIFmGw4Xruqfm5qSVFlXq+qcUZLEBx9jKIPVyJRckZmWWpxim5nPkFqXl5pUVJxSwpiSWJIEUcHBxMICcKqDMw2ADpueU1PZzMQAY/iIgGEky/6pkY/Jkh3vn9n4lBBOq1J1eu+7m/vCy4/ymDQDOj0gfdndIxf4Dy4lC1FiBXMDGggw/2uPgR58RZrQqeOcD4SV7FmkpsZx1g4jD+279nD29mkncBqbn+1NDdQbHIDaKjwR4J70fCKGKQ+GlgcCiBWgTzEQMs1pCBrrPM60dmUmiuloC7st3luZdE+DV7mG9gfAi9DSyOGgqMLxR/BMCsYwYSzAxMTAZAdtzDKkGGV0DfbYP6DsS2hfruCtCnMHEQGyYO0lixbUE6kgUN9sSwFYBkfZF/NJp/YWGFzsYOQMGw/URIM04F6JEIE0ePVFB8LIEFEAP2qEAA9EREX3WZNjMWw0Qa9u6vPACiwx40OyCpPLDLBuzZB+ou5+DiEqq9k//XMzXA+NzE2ToKRsEoGAUA + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + c72488a7-9403-4526-8e6c-57573681e9c5 + Button + remove + false + 0 + + + + + + 628 + 1402 + 107 + 22 + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + c66ceb12-168f-4a61-9f07-3aee09e8d07b + Panel + + false + 0 + 0 + Select link name to attach + + + + + + 420 + 1285 + 160 + 38 + + 0 + 0 + 0 + + 420.3755 + 1285.525 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if robot: + link_names = robot.get_link_names() + link_name = link_names[idx] + GhPython provides a Python script component + + 753 + 275 + + + 558 + 585 + + true + true + ac135415-e123-472b-961b-48230e14aaa1 + false + true + Python Script + py + + + + + + 451 + 1330 + 127 + 44 + + + 502 + 1352 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 68ceea51-ef00-41f6-8261-3374ddc045e5 + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 453 + 1332 + 34 + 20 + + + 471.5 + 1342 + + + + + + + + true + Script input idx. + 6aadaafc-066c-4277-9d48-b3bd75891c10 + idx + idx + true + 0 + true + 96a903af-99c7-4950-98d9-287aaa1b70d7 + 1 + 48d01794-d3d8-4aef-990e-127168822244 + + + + + + 453 + 1352 + 34 + 20 + + + 471.5 + 1362 + + + + + + + + Script output link_name. + 63649309-f44e-4e3b-ad3a-514b976df80d + link_name + link_name + false + 0 + + + + + + 517 + 1332 + 59 + 40 + + + 546.5 + 1352 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 96a903af-99c7-4950-98d9-287aaa1b70d7 + Number Slider + + false + 0 + + + + + + 279 + 1355 + 160 + 20 + + + 279.9319 + 1355.328 + + + + + + 3 + 1 + 1 + 7 + 0 + 0 + 4 + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 6d1ec46b-3216-4988-9312-2bdae42c2ca8 + Panel + + false + 0 + 63649309-f44e-4e3b-ad3a-514b976df80d + 1 + ee_link + + + + + + 443 + 1383 + 136 + 30 + + 0 + 0 + 0 + + 443.0103 + 1383.874 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + d3766bad-ffe8-4848-9956-79dad7f2ad1c + Panel + + false + 0 + 0 + Select the links the object is allowed to touch + + + + + + 427 + 1443 + 160 + 38 + + 0 + 0 + 0 + + 427.5596 + 1443.045 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if robot: + link_names = robot.get_link_names() + touch_links = [link_names[i] for i in idxs] + GhPython provides a Python script component + + 753 + 275 + + + 558 + 585 + + true + true + 15e2bc00-c654-47e9-909b-55adc1e7b4ff + false + true + Python Script + py + + + + + + 448 + 1487 + 132 + 44 + + + 499 + 1509 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 51f5595b-3c91-4406-9572-640917773b6f + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 450 + 1489 + 34 + 20 + + + 468.5 + 1499 + + + + + + + + 1 + true + Script input idxs. + cacd7726-d21f-4579-863d-2700d5d29170 + idxs + idxs + true + 1 + true + d5438988-920d-4f0d-b351-6b7d55f3c588 + 1 + 48d01794-d3d8-4aef-990e-127168822244 + + + + + + 450 + 1509 + 34 + 20 + + + 468.5 + 1519 + + + + + + + + Script output touch_links. + 96a2f2f6-5901-4527-abb3-829097bd2417 + touch_links + touch_links + false + 0 + + + + + + 514 + 1489 + 64 + 40 + + + 546 + 1509 + + + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + d51c2f32-aea5-48ab-ad93-bb2ac9c909f8 + Panel + + false + 0 + 96a2f2f6-5901-4527-abb3-829097bd2417 + 1 + ee_link + 1 + + + + + + 449 + 1540 + 136 + 83 + + 0 + 0 + 0 + + 449.3943 + 1540.003 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + d5438988-920d-4f0d-b351-6b7d55f3c588 + Data + idxs + false + 0 + + + + + + 379 + 1511 + 50 + 20 + + + 404.4745 + 1521.514 + + + + + + 1 + + + + + 5 + {0} + + + + + Grasshopper.Kernel.Types.GH_Integer + 3 + + + + + Grasshopper.Kernel.Types.GH_Integer + 4 + + + + + Grasshopper.Kernel.Types.GH_Integer + 5 + + + + + Grasshopper.Kernel.Types.GH_Integer + 6 + + + + + Grasshopper.Kernel.Types.GH_Integer + 7 + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + bac1335b-83f6-40d7-925f-030c8e5e0e8d + Number Slider + + false + 0 + + + + + + 2044 + 1679 + 222 + 20 + + + 2044.351 + 1679.478 + + + + + + 3 + 1 + 0 + 0.001 + 0 + 0 + 0.001 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 442ffd44-e14b-4346-84b6-aa44d884bdd4 + Number Slider + + false + 0 + + + + + + 2042 + 1705 + 229 + 20 + + + 2042.058 + 1705.142 + + + + + + 3 + 1 + 1 + 360 + 1 + 0 + 1 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + ee661a2b-923e-4adc-bd62-542359503ccc + Number Slider + + false + 0 + + + + + + 2041 + 1731 + 229 + 20 + + + 2041.77 + 1731.936 + + + + + + 3 + 1 + 1 + 360 + 1 + 0 + 1 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + c34db472-6b50-43ae-8234-0909303a1a36 + Number Slider + + false + 0 + + + + + + 2041 + 1755 + 229 + 20 + + + 2041.32 + 1755.568 + + + + + + 3 + 1 + 1 + 360 + 1 + 0 + 1 + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 2e881b89-8929-4eba-8dbc-b9eb6064614c + Panel + + false + 0 + 0 + If you specify the tolerance vector with [360, 1, 1], it means that + the frame's y-axis and z-axis are allowed to rotate about the x-axis by an + angle of 360 degrees, whereas the x-axis can only change 1 degree. + + + + + + 2042 + 1975 + 262 + 148 + + 0 + 0 + 0 + + 2042.416 + 1975.331 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 2036.699 + 746.4655 + + + 2469.041 + 746.4655 + + + 2469.041 + 776.2946 + + + 2036.699 + 776.2946 + + A quick note + Arial + 64f1ba8d-e546-4d8b-9f53-33d6bbe00077 + false + Scribble + Scribble + 41 + Plan cartesian motion + + + + + + 2031.699 + 741.4655 + 442.3418 + 39.8291 + + + 2036.699 + 746.4655 + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + true + + 2038.026 + 1516.486 + + + 2273.195 + 1516.486 + + + 2273.195 + 1546.315 + + + 2038.026 + 1546.315 + + A quick note + Arial + 441946d3-fb84-4b3e-aec6-2534b3eaf8ad + false + Scribble + Scribble + 41 + Plan motion + + + + + + 2033.026 + 1511.486 + 245.1693 + 39.8291 + + + 2038.026 + 1516.486 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + from compas.robots import Configuration + +if robot: + types = robot.get_configurable_joint_types() + values = [0] * len(types) + + configuration = Configuration(values, types) + print configuration + + GhPython provides a Python script component + + 208 + 208 + + + 1374 + 777 + + true + true + 3ec4cada-ee9c-46f4-bea6-942b8ff52886 + false + true + Python Script + py + + + + + + 2280 + 1588 + 143 + 30 + + + 2331 + 1603 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 24d28df7-7750-4e71-b9e4-a9abc0187b5e + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + 2 + + + + + + 2282 + 1590 + 34 + 26 + + + 2300.5 + 1603 + + + + + + + + Script output configuration. + f7870b6d-1686-4b0c-890e-d7d169551311 + configuration + configuration + false + 0 + + + + + + 2346 + 1590 + 75 + 26 + + + 2383.5 + 1603 + + + + + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + f47e4a93-7697-4d5d-a54f-d4b60aceed26 + Data + start_configuration + false + bb1a39f9-ee71-457f-8ac9-3be221b20e76 + 1 + 1 + + + + + + 2323 + 1564 + 104 + 20 + + + 2375.7 + 1574.884 + + + + + + + + + + eeafc956-268e-461d-8e73-ee05c6f72c01 + Stream Filter + + + + + Filters a collection of input streams + 2 + 993dd1da-7527-4b83-bacd-ffd40686e0b8 + Stream Filter + Filter + + + + + + 2445 + 1551 + 77 + 64 + + + 2477 + 1583 + + + + + + 3 + 2e3ab970-8545-46bb-836c-1c11e5610bce + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + Index of Gate stream + 775b48b0-9be3-4be9-9b57-5fcb3ac717f6 + Gate + G + false + 0881f34c-285b-43f4-8e5c-486198d469f6 + 1 + + + + + + 2447 + 1553 + 15 + 20 + + + 2456 + 1563 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + 2 + Input stream at index 0 + 4b9ad3e4-6eae-4da6-b02d-52ba3353e7e7 + false + Stream 0 + 0 + true + f47e4a93-7697-4d5d-a54f-d4b60aceed26 + 1 + + + + + + 2447 + 1573 + 15 + 20 + + + 2456 + 1583 + + + + + + + + 2 + Input stream at index 1 + 88cc701a-7aa3-4ba1-a6d9-4909f9848f08 + false + Stream 1 + 1 + true + f7870b6d-1686-4b0c-890e-d7d169551311 + 1 + + + + + + 2447 + 1593 + 15 + 20 + + + 2456 + 1603 + + + + + + + + 2 + Filtered stream + a9139682-5866-41f7-a884-3df47c63db76 + false + Stream + S(0) + false + 0 + + + + + + 2492 + 1553 + 28 + 60 + + + 2506 + 1583 + + + + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + 0881f34c-285b-43f4-8e5c-486198d469f6 + 2 + 1 + Value List + List + false + 0 + + + + + 0 + 0 + true + + + + + 1 + 1 + false + + + + + + 2374 + 1531 + 52 + 22 + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + ec9f1a24-406c-4aba-a41e-6a904f2477d1 + 6 + 1 + Value List + List + false + 0 + + + + + "RRT" + RRT + false + + + + + "RRTStar" + RRT* + true + + + + + "EST" + EST + false + + + + + "RPM" + PRM + false + + + + + "RPMStar" + PRM* + false + + + + + "SPARS" + SPARS + false + + + + + + 2417 + 1888 + 68 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import math +joint_positions = [-3.136, -0.328, -1.218, 3.129, 0.852, 0.008] +joint_positions = [0] * 6 +print joint_positions + GhPython provides a Python script component + + 130 + 130 + + + 1321 + 897 + + true + true + 4b909f07-7270-463a-ba0c-2a268654a46d + false + true + GhPython Script + jp + + + + + + 2153 + 250 + 111 + 28 + + + 2167 + 264 + + + + + + 0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + Script output joint_positions. + 156f38a4-a317-4de4-9e6a-108398fd37f7 + joint_positions + joint_positions + false + 0 + + + + + + 2182 + 252 + 80 + 24 + + + 2222 + 264 + + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + d6f7c354-b379-422b-879f-7ad60db25518 + Boolean Toggle + set_joint_positions + false + 0 + false + + + + + + 2106 + 223 + 159 + 22 + + + + + + + + + + eeafc956-268e-461d-8e73-ee05c6f72c01 + Stream Filter + + + + + Filters a collection of input streams + 2 + 733b4e1c-5196-416c-bf3e-52ce85081b13 + Stream Filter + Filter + + + + + + 2316 + 1048 + 77 + 64 + + + 2348 + 1080 + + + + + + 3 + 2e3ab970-8545-46bb-836c-1c11e5610bce + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + Index of Gate stream + 9ddbd2b6-3c59-40ad-bba1-490c9b2fdacb + Gate + G + false + 75104a29-44bd-45e2-8d08-77cbfbb08f43 + 1 + + + + + + 2318 + 1050 + 15 + 20 + + + 2327 + 1060 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + 2 + Input stream at index 0 + bf512576-a9d4-44e3-98b5-14e1958e413e + false + Stream 0 + 0 + true + 0 + + + + + + 2318 + 1070 + 15 + 20 + + + 2327 + 1080 + + + + + + + + 2 + Input stream at index 1 + a85542eb-c386-4a72-9832-042b62a895e0 + false + Stream 1 + 1 + true + f7d43ec5-7554-4b3f-b094-922069ba388b + 1 + 2 + + + + + + 2318 + 1090 + 15 + 20 + + + 2327 + 1100 + + + + + + + + 2 + Filtered stream + f24ac496-6e09-4024-a3ef-12d43f6913d5 + false + Stream + S(1) + false + 0 + + + + + + 2363 + 1050 + 28 + 60 + + + 2377 + 1080 + + + + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + 75104a29-44bd-45e2-8d08-77cbfbb08f43 + 2 + 1 + Value List + List + false + 0 + + + + + 0 + don't use attached collision mesh + false + + + + + 1 + use attached collision mesh + true + + + + + + 2189 + 1020 + 198 + 22 + + + + + + + + + + eeafc956-268e-461d-8e73-ee05c6f72c01 + Stream Filter + + + + + Filters a collection of input streams + 2 + 16c5108d-de66-42d7-b2ca-4cf7d8bd16a1 + Stream Filter + Filter + + + + + + 2410 + 1819 + 77 + 64 + + + 2442 + 1851 + + + + + + 3 + 2e3ab970-8545-46bb-836c-1c11e5610bce + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + Index of Gate stream + 94214f78-50bd-44ff-851a-40d4d166814a + Gate + G + false + 66c48373-1134-4a9d-9f27-a67c266fd757 + 1 + + + + + + 2412 + 1821 + 15 + 20 + + + 2421 + 1831 + + + + + + 1 + + + + + 1 + {0} + + + + + 0 + + + + + + + + + + + 2 + Input stream at index 0 + 69861672-227f-452b-b426-dc74d55995dd + false + Stream 0 + 0 + true + 0 + + + + + + 2412 + 1841 + 15 + 20 + + + 2421 + 1851 + + + + + + + + 2 + Input stream at index 1 + 10b81479-abf5-4dbe-9ad6-5645b54f244e + false + Stream 1 + 1 + true + 0 + 2 + + + + + + 2412 + 1861 + 15 + 20 + + + 2421 + 1871 + + + + + + + + 2 + Filtered stream + e6861de7-b571-4e77-b254-e8cbd704daba + false + Stream + S(1) + false + 0 + + + + + + 2457 + 1821 + 28 + 60 + + + 2471 + 1851 + + + + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + 66c48373-1134-4a9d-9f27-a67c266fd757 + 2 + 1 + Value List + List + false + 0 + + + + + 0 + don't use attached collision mesh + false + + + + + 1 + use attached collision mesh + true + + + + + + 2284 + 1791 + 198 + 22 + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 70114cf5-639e-442a-aba9-65fd7ee2095c + Panel + is_connected + false + 0 + df844578-a7c7-4da4-8563-f432f1b401e8 + 1 + Double click to edit panel content… + + + + + + 430 + 315 + 160 + 49 + + 0 + 0 + 0 + + 430.2 + 315.8083 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 6.4 + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 545474d3-59ae-4503-ae97-5f9c4fc985e4 + Button + load + false + 0 + + + + + + 107 + 521 + 91 + 22 + + + + + + + + + + eeafc956-268e-461d-8e73-ee05c6f72c01 + Stream Filter + + + + + Filters a collection of input streams + 892ea949-fa91-4498-8940-77e5fb4f8140 + Stream Filter + Filter + + + + + + 490 + 523 + 77 + 64 + + + 522 + 555 + + + + + + 3 + 2e3ab970-8545-46bb-836c-1c11e5610bce + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + Index of Gate stream + 4494e175-122f-46a1-9a49-71ac075b0a41 + Gate + G + false + 4df77e97-3f2d-450d-9ac6-7384e441fd4f + 1 + + + + + + 492 + 525 + 15 + 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59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + cf30b2cc-c2aa-41a1-9cdb-676800791395 + Panel + + false + 0 + 0 + Load robot directly from ROS +(only working if connected and file_server launched) + + + + + + 92 + 435 + 199 + 38 + + 0 + 0 + 0 + + 92.58086 + 435.1744 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import Rhino.Geometry as rg + +pln = rg.Plane(pt, -rg.Vector3d.ZAxis) + GhPython provides a Python script component + + 192 + 192 + + + 741 + 702 + + true + true + 1bc52e8c-cebe-4c25-9127-8b00fb6d8024 + false + true + GhPython Script + py + + + + + + 1700 + 695 + 76 + 30 + + + 1734 + 710 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 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44 + + + 3048 + 964 + + + + + + 1 + Polyline vertex points + 2a88ba74-91a7-421f-b170-ca042dff3f35 + Vertices + V + false + 549ce3e0-71f1-46b0-88bd-12b185a63e50 + 1 + + + + + + 3019 + 944 + 14 + 20 + + + 3027.5 + 954 + + + + + + + + Close polyline + 234fb538-ddff-488c-a540-79cb6733c28d + Closed + C + false + 0 + + + + + + 3019 + 964 + 14 + 20 + + + 3027.5 + 974 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + Resulting polyline + f86db844-2a42-4bce-a91a-c9e8e41c52ab + Polyline + Pl + false + 0 + + + + + + 3063 + 944 + 19 + 40 + + + 3072.5 + 964 + + + + + + + + + + + + 537b0419-bbc2-4ff4-bf08-afe526367b2c + Custom Preview + + + + + Allows for customized geometry previews + 2 + true + 003af85f-bc08-4252-b00b-ef0e17d458c1 + Custom Preview + Preview + + + + + + + 3117 + 946 + 48 + 44 + + + 3151 + 968 + + + + + + Geometry to preview + true + d668635b-08b3-4491-9eec-445e27155093 + Geometry + G + false + f86db844-2a42-4bce-a91a-c9e8e41c52ab + 1 + + + + + + 3119 + 948 + 17 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8ec80426-fd35-4c6c-b13c-7e3132b24f8e + Geometry + Geo + false + 473a97f4-3037-4b39-bd57-8e2f7c2aadcd + 1 + + + + + + 4100 + 280 + 50 + 20 + + + 4125.843 + 290.701 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + d801c5d0-4135-488f-ab55-0d68f7d8f476 + Geometry + Geo + false + d0542804-1c7c-4ecf-91c5-3d59d732e0c7 + 1 + + + + + + 4103 + 313 + 50 + 20 + + + 4128.278 + 323.1586 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 864d898d-6f8b-4aad-ac6e-40c89c481ff0 + Boolean Toggle + show_visual + false + 0 + true + + + + + + 3642 + 338 + 127 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 29c1cb64-f8f2-4154-be6a-da8fa37fd473 + Boolean Toggle + show_collision + false + 0 + false + + + + + + 3630 + 363 + 139 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 166accee-f5ea-4558-b3c4-8629748d034d + Boolean Toggle + show_end_effector_frame + false + 0 + true + + + + + + 3576 + 438 + 193 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + c6c5fa0c-a536-4934-8519-ccf200a699db + Boolean Toggle + show_base_frame + false + 0 + true + + + + + + 3614 + 413 + 155 + 22 + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + c85007a6-26c6-4248-8885-7515510388f8 + Panel + + false + 0 + 0 + Double click to edit panel content… + + + + + + 4263 + 241 + 535 + 96 + + 0 + 0 + 0 + + 4263.539 + 241.8042 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 6.4 + + + + + + + + + + + 537b0419-bbc2-4ff4-bf08-afe526367b2c + Custom Preview + + + + + Allows for customized geometry previews + 2 + true + 1c77c8a7-fca1-4daa-90d8-b38a1b5b07a2 + Custom Preview + Preview + + + + + + + 4173 + 296 + 46 + 44 + + + 4205 + 318 + + + + + + Geometry to preview + true + 6332230d-f8a1-4c35-82c7-f43a31e412a6 + Geometry + G + false + 8ec80426-fd35-4c6c-b13c-7e3132b24f8e + 1 + + + + + + 4175 + 298 + 15 + 20 + + + 4184 + 308 + + + + + + + + The preview shader override + 66d32136-e5bd-451a-9300-6e670d762170 + Shader + S + false + 3ba62fff-92d5-4885-afa6-0afe16b69573 + 1 + + + + + + 4175 + 318 + 15 + 20 + + + 4184 + 328 + + + + + + 1 + + + + + 1 + {0} + + + + + + + + + + + + + 9c53bac0-ba66-40bd-8154-ce9829b9db1a + Colour Swatch + + + + + Colour (palette) swatch + 3ba62fff-92d5-4885-afa6-0afe16b69573 + Colour Swatch + + false + 0 + + 255;105;105;105 + + + + + + + 4165 + 274 + 60 + 20 + + + 4165.533 + 274.1917 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 8030f56d-c9ef-4de9-b92c-ae606e9f79a6 + Boolean Toggle + show_frames + false + 0 + false + + + + + + 3636 + 388 + 133 + 22 + + + + + + + + + + 11e95a7b-1e2c-4b66-bd95-fcad51f8662a + Vector Display Ex + + + + + Preview vectors in the viewport + dbfc528f-ef9f-465a-acfe-ac261f8249a9 + Vector Display Ex + VDisEx + + + + + + 4226 + 398 + 48 + 84 + + + 4260 + 440 + + + + + + Start point of vector + 1889da70-835b-4485-96eb-2bdb0fe13dde + Point + P + true + 500c26d6-1a2f-40eb-971e-ff5a0f376286 + 1 + + + + + + 4228 + 400 + 17 + 20 + + + 4238 + 410 + + + + + + + + Vector to display + 784e313e-e9fc-4b80-8eeb-7cc3e9af1540 + Vector + V + true + c4f1c7e4-1bd7-479d-a7e0-2d4e1f3fdca1 + 1 + + + + + + 4228 + 420 + 17 + 20 + + + 4238 + 430 + + + + + + + + Colour of vector + adaf3b87-f188-480b-bede-0c2e9f81bdd1 + Colour + C + true + e519256a-1e68-4be6-8b91-4b99109bfd63 + 1 + + + + + + 4228 + 440 + 17 + 20 + + + 4238 + 450 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;0;0;0 + + + + + + + + + + + + Width of vector lines + 4e67d1b6-9de2-4eed-87f8-2d09062cf670 + Width + W + true + e2b21f9e-0130-4f57-888c-ff7f8b1ca110 + 1 + + + + + + 4228 + 460 + 17 + 20 + + + 4238 + 470 + + + + + + 1 + + + + + 1 + {0} + + + + + 2 + + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from System.Drawing import Color +from compas_ghpython import draw_frame + +red = Color.FromArgb(255, 0, 0) +green = Color.FromArgb(0, 255, 0) +blue = Color.FromArgb(0, 0, 255) + +P = [] +V = [] +C = [] + +scale = float(scale) + +for frame in frames: + if not frame: + continue + plane = draw_frame(frame) + P += [plane.Origin] * 3 + V.append(plane.XAxis * scale) + V.append(plane.YAxis * scale) + V.append(plane.ZAxis * scale) + C += [red, green, blue] + +W = 3 + GhPython provides a Python script component + + 1768 + 319 + + + 741 + 702 + + true + true + true + 16886dc1-db1f-4474-af73-361f5c260ebc + false + true + GhPython Script + draw + + + + + + 4102 + 398 + 94 + 84 + + + 4159 + 440 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + true + Script input frames. + cf936938-090f-4396-9493-c8a58beb9ab6 + frames + frames + true + 1 + true + 96db5137-6bfc-4a14-8599-de696ec658b9 + a09d25cc-8adf-4b26-a7ed-aafb6269a2cc + 31d78057-d71a-4778-9696-59a57d12151f + 3 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 4104 + 400 + 40 + 40 + + + 4125.5 + 420 + + + + + + + + true + Script input scale. + 9e96cb9e-10fb-44fa-81a3-851e7401d009 + scale + scale + true + 0 + true + 03002c4a-6668-4480-9dc3-9381c688dce6 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 4104 + 440 + 40 + 40 + + + 4125.5 + 460 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Number + 0.1 + + + + + + + + + + + Script output P. + 500c26d6-1a2f-40eb-971e-ff5a0f376286 + P + P + false + 0 + + + + + + 4174 + 400 + 20 + 20 + + + 4184 + 410 + + + + + + + + Script output V. + c4f1c7e4-1bd7-479d-a7e0-2d4e1f3fdca1 + V + V + false + 0 + + + + + + 4174 + 420 + 20 + 20 + + + 4184 + 430 + + + + + + + + Script output C. + e519256a-1e68-4be6-8b91-4b99109bfd63 + C + C + false + 0 + + + + + + 4174 + 440 + 20 + 20 + + + 4184 + 450 + + + + + + + + Script output W. + e2b21f9e-0130-4f57-888c-ff7f8b1ca110 + W + W + false + 0 + + + + + + 4174 + 460 + 20 + 20 + + + 4184 + 470 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if robot: + scale = robot.scale_factor * 0.1 +else: + scale = 1. + GhPython provides a Python script component + + 130 + 130 + + + 1529 + 889 + + true + true + f561649e-3605-4509-b845-df80a9b2adf1 + false + true + Python Script + py + + + + + + 4101 + 362 + 102 + 30 + + + 4152 + 377 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable py + 1ac138b0-00c1-4f3f-af0f-c49e2bd01099 + robot + robot + true + 0 + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 4103 + 364 + 34 + 26 + + + 4121.5 + 377 + + + + + + + + Script output scale. + 03002c4a-6668-4480-9dc3-9381c688dce6 + scale + scale + false + 0 + + + + + + 4167 + 364 + 34 + 26 + + + 4184 + 377 + + + + + + + + + + + + + + cdd47086-f902-4b77-825b-6b79c3aaecc1 + 237883f1-9678-4abe-9e20-2ceed9e6c611 + ROS Connect + + + + + Connect or disconnect to ROS + 204f99f2-86e0-4e6e-8ce5-dc983de7fc2c + ROS Connect + ROS Connect + + + + + + 250 + 267 + 166 + 98 + + + 326 + 316 + + + + + + The ip address of ROS master. Defaults to 127.0.0.1 + a4daafc5-3257-47a6-9005-03664cdc0a09 + ip + ip + true + b37b9f8c-e6e8-4b3f-8197-18ff36ff6da2 + 1 + + + + + + 252 + 269 + 59 + 23 + + + 283 + 280.75 + + + + + + + + The port of ROS master. Defaults to 9090. + df0536ae-a8f4-4fb5-83a1-e753f332b4b6 + port + port + true + 0 + + + + + + 252 + 292 + 59 + 24 + + + 283 + 304.25 + + + + + + + + If `True`, connect to ROS. Defaults to False. + 3843f09a-726a-4472-9319-364be94d7d08 + connect + connect + true + a0892dca-7d14-4c64-aba3-786f002af7a0 + 1 + + + + + + 252 + 316 + 59 + 23 + + + 283 + 327.75 + + + + + + + + If `True`, disconnect from ROS. Defaults to False. + f3666d30-59bf-4131-94cd-18c8869caa52 + disconnect + disconnect + true + f0afa152-a1e7-4086-86ab-66c1e5346f8b + 1 + + + + + + 252 + 339 + 59 + 24 + + + 283 + 351.25 + + + + + + + + The ROS client. + 1123ed52-ec5e-41ec-aeec-0900a158d15b + ros_client + ros_client + true + 0 + + + + + + 341 + 269 + 73 + 47 + + + 377.5 + 292.5 + + + + + + + + `True` if connection established. + df844578-a7c7-4da4-8563-f432f1b401e8 + is_connected + is_connected + true + 0 + + + + + + 341 + 316 + 73 + 47 + + + 377.5 + 339.5 + + + + + + + + + + + + 2c99e9cb-441c-4c9f-9d7a-593536c1e0da + 237883f1-9678-4abe-9e20-2ceed9e6c611 + ROS Robot + + + + + Load robot directly from ROS. + 8f2837ec-1a26-407a-8c23-6c9f1bf5e28f + ROS Robot + ROS Robot + + + + + + 270 + 470 + 124 + 84 + + + 340 + 512 + + + + + + :class:`compas_fab.backends.RosClient` The ROS client. + b1a7bf7b-753d-4f97-8856-5b0fd9e8b5c0 + ros_client + ros_client + true + 1123ed52-ec5e-41ec-aeec-0900a158d15b + 1 + + + + + + 272 + 472 + 53 + 40 + + + 300 + 492 + + + + + + + + If `True`, loads the robot from ROS. Defaults to False. + da4af3a6-f294-4d96-8a82-ac336b67e4c7 + load + load + true + 545474d3-59ae-4503-ae97-5f9c4fc985e4 + 1 + + + + + + 272 + 512 + 53 + 40 + + + 300 + 532 + + + + + + + + The robot. + 2c8e469e-a966-4d3f-a41f-a06cc75ae09b + robot + robot + true + 0 + + + + + + 355 + 472 + 37 + 80 + + + 373.5 + 512 + + + + + + + + + + + + cbdef67b-a5c2-453e-8e73-4488bd23fc49 + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Planning Scene + + + + + Create a planning scene. + 7f7fa7b5-d1ec-4c90-b8ce-34af01af9bdd + Planning Scene + Planning Scene + + + + + + 93 + 816 + 105 + 112 + + + 144 + 872 + + + + + + The robot. + ee6b552e-5ee7-4bd0-9a12-b34a483c9e49 + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 1 + + + + + + 95 + 818 + 34 + 108 + + + 113.5 + 872 + + + + + + + + The planning scene. + 7f50ec1d-ea72-4bd5-aee0-b33784427f70 + scene + scene + true + 0 + + + + + + 159 + 818 + 37 + 108 + + + 177.5 + 872 + + + + + + + + + + + + fce04d23-0239-43d8-baa5-1351ccc8f0ac + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Collision Mesh + + + + + Add or remove a collision mesh from the planning scene. + ea556869-8f7e-4531-a7e6-2f5b687b3066 + Collision Mesh + Collision Mesh + + + + + + 614 + 969 + 106 + 108 + + + 681 + 1023 + + + + + + The planning scene. + 04c90d94-3974-4295-97ec-46a40d81120b + scene + scene + true + 7f50ec1d-ea72-4bd5-aee0-b33784427f70 + 1 + 1 + + + + + + 616 + 971 + 50 + 20 + + + 642.5 + 981.4 + + + + + + + + A collision mesh. + c50fe29c-ba4f-429c-ab81-8d9a852b3fff + mesh + mesh + true + e6b91360-59d1-4947-884b-53592a94e219 + 1 + + + + + + 616 + 991 + 50 + 21 + + + 642.5 + 1002.2 + + + + + + + + The identifier of the collision mesh. + 7a8f0b10-d477-4596-a6d2-24d3adba2b19 + identifier + identifier + true + ea3c92dc-bddb-4fde-a182-f39fce0715cf + 1 + + + + + + 616 + 1012 + 50 + 21 + + + 642.5 + 1023 + + + + + + + + If `True`, adds the collision mesh to the planning scene. + 97669e6d-39db-4457-9366-bf4401defae8 + add + add + true + 1cb7ea62-fced-49b6-b8d9-410b618943b0 + 1 + + + + + + 616 + 1033 + 50 + 21 + + + 642.5 + 1043.8 + + + + + + + + If `True`, removes the collision mesh from the planning scene. + e39a92d4-068b-40e4-b4a7-405065beb5fd + remove + remove + true + 52302850-7a5c-41ae-87a1-b58357e39e8b + 1 + + + + + + 616 + 1054 + 50 + 21 + + + 642.5 + 1064.6 + + + + + + + + `True` if the operation was sucessfully performed. + 640cb0b8-b3c3-44ad-82b4-63784df2bef0 + ok + ok + true + 0 + + + + + + 696 + 971 + 22 + 104 + + + 707 + 1023 + + + + + + + + + + + + 9d995079-5068-4118-9e2e-462f34154b53 + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Attached Collision Mesh + + + + + Add an attached collision mesh to the robot. + 61a290a4-03d8-4596-98c5-52db84740768 + Attached Collision Mesh + Attached Collision Mesh + + + + + + 774 + 1262 + 222 + 170 + + + 852 + 1347 + + + + + + :class:`compas_fab.robots.PlanningScene` The planning scene. + 7455991a-997d-4821-8f46-98f2ce88b070 + scene + scene + true + 7f50ec1d-ea72-4bd5-aee0-b33784427f70 + 1 + 1 + + + + + + 776 + 1264 + 61 + 23 + + + 808 + 1275.857 + + + + + + + + A collision mesh. + 3ffc2223-8dac-4d0c-ba83-f15216a66623 + mesh + mesh + true + 8e564cc3-7074-44b4-bd8c-984c1c4f452f + 1 + + + + + + 776 + 1287 + 61 + 24 + + + 808 + 1299.571 + + + + + + + + The identifier of the collision mesh. + 49935f5d-cc2c-4fb7-b081-75abfe196123 + identifier + identifier + true + 1c955bea-9f9a-4f2f-a79a-fb3e73a5da39 + 1 + + + + + + 776 + 1311 + 61 + 24 + + + 808 + 1323.286 + + + + + + + + The robot's link name to attach the mesh to. + ad4ba856-90dd-4864-8628-51ff7f7df26f + link_name + link_name + true + 63649309-f44e-4e3b-ad3a-514b976df80d + 1 + + + + + + 776 + 1335 + 61 + 23 + + + 808 + 1347 + + + + + + + + 1 + Names of links that the robot is allowed to touch. + dc0ff962-17f0-48fb-970f-b24ce7d22cf8 + touch_links + touch_links + true + 96a2f2f6-5901-4527-abb3-829097bd2417 + 1 + + + + + + 776 + 1358 + 61 + 24 + + + 808 + 1370.714 + + + + + + + + If `True`, adds the collision mesh to the planning scene. + 6f99e7a0-3ea8-414e-9f5a-487c52c7345c + add + add + true + 42f23bb9-e92f-4f20-aaeb-2c7c3c62e487 + 1 + + + + + + 776 + 1382 + 61 + 24 + + + 808 + 1394.429 + + + + + + + + If `True`, removes the collision mesh from the planning scene. + fed7f382-39d5-4446-ba60-6c774bb0b213 + remove + remove + true + c72488a7-9403-4526-8e6c-57573681e9c5 + 1 + + + + + + 776 + 1406 + 61 + 23 + + + 808 + 1418.143 + + + + + + + + A collision mesh that is attached to a robot's link. + f7d43ec5-7554-4b3f-b094-922069ba388b + attached_collision_mesh + attached_collision_mesh + true + 0 + + + + + + 867 + 1264 + 127 + 166 + + + 930.5 + 1347 + + + + + + + + + + + + d396725d-8bb3-4b80-97ad-dce8061cbbe4 + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Inverse Kinematics + + + + + Calculate the robot's inverse kinematic for a given plane. + 3b17c969-4332-4fb3-933a-2471f5b722bd + Inverse Kinematics + Inverse Kinematics + + + + + + 2300 + 508 + 207 + 135 + + + 2415 + 576 + + + + + + The robot. + 9d5dee04-34f4-45cb-936e-45c34511f73f + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 1 + + + + + + 2302 + 510 + 98 + 32 + + + 2352.5 + 526.375 + + + + + + + + The plane to calculate the inverse kinematic for. + a6ad1de7-bb00-4c79-ab78-0958adea9e1c + plane + plane + true + 5749f7c1-2af4-4c2e-8a9f-6f3575116f44 + 1 + + + + + + 2302 + 542 + 98 + 33 + + + 2352.5 + 559.125 + + + + + + + + If passed, the inverse will be calculated such that the calculated joint positions differ the least from the start_configuration. Defaults to the zero configuration. + eda34b3c-4325-4e05-8d60-01a19c4e3742 + start_configuration + start_configuration + true + bc525839-c688-42ff-bb37-044242da9ebe + 1 + + + + + + 2302 + 575 + 98 + 33 + + + 2352.5 + 591.875 + + + + + + + + The planning group used for calculation. Defaults to the robot's main planning group. + 5e6d0d46-e90b-4ca5-b92c-b6a326d952a4 + group + group + true + 45c21eda-739f-4d92-8a49-4abe25885103 + 1 + 2 + + + + + + 2302 + 608 + 98 + 33 + + + 2352.5 + 624.625 + + + + + + + + The planning group's configuration. + bb1a39f9-ee71-457f-8ac9-3be221b20e76 + a + configuration + true + 0 + + + + + + 2430 + 510 + 75 + 131 + + + 2467.5 + 575.5 + + + + + + + + + + + + 1ba79e0a-3216-4898-a8c3-c6ba069e653d + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Robot Visualize + + + + + Visualizes the robot. + 128a8531-6f3b-4a34-bf54-94bbbd4057ad + Robot Visualize + Robot Visualize + + + + + + 3803 + 272 + 261 + 204 + + + 3954 + 374 + + + + + + The robot. + 5a475ae5-4a74-4c9e-a44b-f23f8a8ff20d + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 2 + + + + + + 3805 + 274 + 134 + 20 + + + 3873.5 + 284 + + + + + + + + The planning group used for end-effector and base visualization. + d4f13597-de07-47de-8f7b-54daf0ddf42b + group + group + true + 45c21eda-739f-4d92-8a49-4abe25885103 + 1 + 2 + + + + + + 3805 + 294 + 134 + 20 + + + 3873.5 + 304 + + + + + + + + The robot's full configuration. + ffafe570-3483-464d-8ced-53b846decc4d + configuration + configuration + true + f6c1f50d-f8f3-462a-b6e9-c58084de2b1c + 1 + + + + + + 3805 + 314 + 134 + 20 + + + 3873.5 + 324 + + + + + + + + 1 + A list of attached collision meshes. + ad1edf4e-4e4b-4d33-8b0e-016711469702 + attached_collision_meshes + attached_collision_meshes + true + c8c9499c-d4e5-4b17-886d-26b1ec4a68ed + 1 + + + + + + 3805 + 334 + 134 + 20 + + + 3873.5 + 344 + + + + + + + + Whether or not to show the robot's visual meshes. + 91d5dffa-2cd5-4ede-9413-2ba55e3ca67e + show_visual + show_visual + true + 864d898d-6f8b-4aad-ac6e-40c89c481ff0 + 1 + + + + + + 3805 + 354 + 134 + 20 + + + 3873.5 + 364 + + + + + + + + Whether or not to show the robot's collision meshes. + 23a300bb-2ed7-425b-be6f-a2553b9a694d + show_collision + show_collision + true + 29c1cb64-f8f2-4154-be6a-da8fa37fd473 + 1 + + + + + + 3805 + 374 + 134 + 20 + + + 3873.5 + 384 + + + + + + + + Whether or not to show the robot's joint frames. + 2e694483-2649-4224-92f2-67f541649325 + show_frames + show_frames + true + 8030f56d-c9ef-4de9-b92c-ae606e9f79a6 + 1 + + + + + + 3805 + 394 + 134 + 20 + + + 3873.5 + 404 + + + + + + + + Whether or not to show the robot's base frame. + b7640458-9597-4315-ac12-d267fcb6d75e + show_base_frame + show_base_frame + true + c6c5fa0c-a536-4934-8519-ccf200a699db + 1 + + + + + + 3805 + 414 + 134 + 20 + + + 3873.5 + 424 + + + + + + + + Whether or not to show the robot's end-effector frame. + 47f79e49-e8e2-4cf6-bb95-2f4d72caad1b + show_end_effector_frame + show_end_effector_frame + true + 166accee-f5ea-4558-b3c4-8629748d034d + 1 + + + + + + 3805 + 434 + 134 + 20 + + + 3873.5 + 444 + + + + + + + + Whether or not to show the attached collision meshes (if any). + fc8e22b4-68bf-41cb-b765-76acfadd2df2 + show_acm + show_acm + true + 8f0c3e27-f0d6-4ed0-a6f6-fac27db537b8 + 1 + + + + + + 3805 + 454 + 134 + 20 + + + 3873.5 + 464 + + + + + + + + The robot's visual meshes. + 473a97f4-3037-4b39-bd57-8e2f7c2aadcd + visual + visual + true + 0 + + + + + + 3969 + 274 + 93 + 33 + + + 4015.5 + 290.6667 + + + + + + + + The robot's collision meshes. + d0542804-1c7c-4ecf-91c5-3d59d732e0c7 + collision + collision + true + 0 + + + + + + 3969 + 307 + 93 + 33 + + + 4015.5 + 324 + + + + + + + + The robot's attached meshes. + 1cd98882-1814-4159-9353-1f1ae17aab23 + attached_meshes + attached_meshes + true + 0 + + + + + + 3969 + 340 + 93 + 34 + + + 4015.5 + 357.3333 + + + + + + + + The robot's joint frames. + 96db5137-6bfc-4a14-8599-de696ec658b9 + frames + frames + true + 0 + + + + + + 3969 + 374 + 93 + 33 + + + 4015.5 + 390.6667 + + + + + + + + The robot's base frame. + a09d25cc-8adf-4b26-a7ed-aafb6269a2cc + base_frame + base_frame + true + 0 + + + + + + 3969 + 407 + 93 + 33 + + + 4015.5 + 424 + + + + + + + + The robot's end-effector frame. + 31d78057-d71a-4778-9696-59a57d12151f + ee_frame + ee_frame + true + 0 + + + + + + 3969 + 440 + 93 + 34 + + + 4015.5 + 457.3333 + + + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + 87947e20-5f6e-47b0-b29b-cde43c844a93 + Geometry + Geo + false + 1cd98882-1814-4159-9353-1f1ae17aab23 + 1 + + + + + + 4102 + 337 + 50 + 20 + + + 4127.278 + 347.1586 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 8f0c3e27-f0d6-4ed0-a6f6-fac27db537b8 + Boolean Toggle + show_acm + false + 0 + true + + + + + + 3649 + 464 + 120 + 22 + + + + + + + + + + 8ec86459-bf01-4409-baee-174d0d2b13d0 + Data + + + + + Contains a collection of generic data + c8c9499c-d4e5-4b17-886d-26b1ec4a68ed + Data + attached_collision_meshes + false + f7d43ec5-7554-4b3f-b094-922069ba388b + 1 + 2 + + + + + + 3628 + 312 + 140 + 20 + + + 3698 + 322 + + + + + + + + + + 58cdd2ab-8b83-4a35-8689-f80a43a6d667 + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Plan Cartesian Motion + + + + + Calculate a cartesian motion path (linear in tool space). + b09aaa44-3f1f-4bb0-b9a4-d2b5ce761b30 + Plan Cartesian Motion + Plan Cartesian Motion + + + + + + 2517 + 825 + 224 + 164 + + + 2668 + 907 + + + + + + The robot. + 40a55174-b1ae-4c16-9b7a-a2dacde8b143 + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 2 + + + + + + 2519 + 827 + 134 + 20 + + + 2587.5 + 837 + + + + + + + + 1 + The planes through which the path is defined. + 1d724486-d7d1-4b0e-b4af-05f4c389487a + planes + planes + true + 53cb7b3d-dd2c-415e-b7fc-f29fae8717d5 + 1 + + + + + + 2519 + 847 + 134 + 20 + + + 2587.5 + 857 + + + + + + + + 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. + da5c8029-4fd7-4c14-a363-c618a7325b9c + start_configuration + start_configuration + true + 088ac40a-fee9-42dc-b977-633eb19b079c + 1 + + + + + + 2519 + 867 + 134 + 20 + + + 2587.5 + 877 + + + + + + + + The planning group used for calculation. Defaults to the robot's main planning group. + 06af7d29-c6c1-4092-b31a-24e946edb8f1 + group + group + true + e960764a-0d32-428b-b33d-e664cca791fe + 1 + 2 + + + + + + 2519 + 887 + 134 + 20 + + + 2587.5 + 897 + + + + + + + + 1 + A list of attached collision meshes to be included for planning. + 80f1dff9-0e74-41bb-aeb6-9bfaedeb88ec + attached_collision_meshes + attached_collision_meshes + true + f24ac496-6e09-4024-a3ef-12d43f6913d5 + 1 + + + + + + 2519 + 907 + 134 + 20 + + + 2587.5 + 917 + + + + + + + + 1 + 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. + 37bce604-7613-4393-b414-ecb786e57535 + path_constraints + path_constraints + true + 0 + + + + + + 2519 + 927 + 134 + 20 + + + 2587.5 + 937 + + + + + + + + The approximate distance between the calculated points. (Defined in the robot's units.) Defaults to 0.01. + bc43349c-4235-4bba-9472-4d414fdce3ba + max_step + max_step + true + cd8aec51-c07c-495f-aec2-9d86f00f26ed + 1 + + + + + + 2519 + 947 + 134 + 20 + + + 2587.5 + 957 + + + + + + + + If `True`, calculates a trajectory. + 616378f1-f01c-4f5b-b279-324498305b2f + compute + compute + true + 7cfaf449-e987-4477-bed8-7a77e2194502 + 1 + + + + + + 2519 + 967 + 134 + 20 + + + 2587.5 + 977 + + + + + + + + The calculated trajectory. + a2f1a93d-e812-402f-b336-99c568ab4f04 + trajectory + trajectory + true + 0 + + + + + + 2683 + 827 + 56 + 160 + + + 2711 + 907 + + + + + + + + + + + + ecc3982a-7de6-4de0-80fd-b4505383b85d + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Trajectory Visualize + + + + + Visualizes the trajectory. + b3ac1df1-d782-4a65-9d41-255386dc2de4 + Trajectory Visualize + Trajectory Visualize + + + + + + 2777 + 810 + 188 + 164 + + + 2847 + 892 + + + + + + The robot. + b826d87d-1add-4e98-9c52-82279b7cf664 + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 2 + + + + + + 2779 + 812 + 53 + 53 + + + 2807 + 838.6667 + + + + + + + + The planning group for which this trajectory was planned. + dadb64f3-a431-4387-966d-d945419f4345 + group + group + true + e960764a-0d32-428b-b33d-e664cca791fe + 1 + 2 + + + + + + 2779 + 865 + 53 + 53 + + + 2807 + 892 + + + + + + + + The calculated trajectory. + 358ff94f-1b64-4d61-a5e3-9d120028307a + trajectory + trajectory + true + a2f1a93d-e812-402f-b336-99c568ab4f04 + 1 + + + + + + 2779 + 918 + 53 + 54 + + + 2807 + 945.3334 + + + + + + + + The start configuration of the trajectory. + a2a9128b-051b-4e2a-b84f-ab4f8f34cdb4 + start_configuration + start_configuration + true + 0 + + + + + + 2862 + 812 + 101 + 20 + + + 2912.5 + 822 + + + + + + + + The full configurations along the trajectory. + e1009be5-d363-4b9d-999c-81eaaa096954 + configurations + configurations + true + 0 + + + + + + 2862 + 832 + 101 + 20 + + + 2912.5 + 842 + + + + + + + + Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found. + 608472ae-5f51-476e-bb5f-65740ae75299 + fraction + fraction + true + 0 + + + + + + 2862 + 852 + 101 + 20 + + + 2912.5 + 862 + + + + + + + + The time which is needed to execute that trajectory at full speed. + 4bc162d3-a70b-4577-8350-1e6c2ade5911 + time + time + true + 0 + + + + + + 2862 + 872 + 101 + 20 + + + 2912.5 + 882 + + + + + + + + The planes of the robot's end-effector. + 549ce3e0-71f1-46b0-88bd-12b185a63e50 + planes + planes + true + 0 + + + + + + 2862 + 892 + 101 + 20 + + + 2912.5 + 902 + + + + + + + + The positions along the trajectory + 8246bf6a-f455-47c2-8932-4828d6cb0284 + P + P + true + 0 + + + + + + 2862 + 912 + 101 + 20 + + + 2912.5 + 922 + + + + + + + + The velocities along the trajectory + e9bb394c-8e36-4ca4-b986-ea84fdda936f + V + V + true + 0 + + + + + + 2862 + 932 + 101 + 20 + + + 2912.5 + 942 + + + + + + + + The accellerations along the trajectory + 75c6e284-5b55-4a6f-930f-513a481c5620 + A + A + true + 0 + + + + + + 2862 + 952 + 101 + 20 + + + 2912.5 + 962 + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Count through list + + + + + from scriptcontext import sticky as st +from compas_ghpython.utilities import update_component + +if not interval: + interval = 5 + +# store data in component +guid = str(ghenv.Component.InstanceGuid) +counter_key = "counter_" + guid +running_key = "running_" + guid + +if counter_key not in st or reset: + st[counter_key] = 0 + +if running_key not in st: + st[running_key] = False + + + + +if start: + st[running_key] = True + +if stop: + st[running_key] = False + +if step: + if st[counter_key] < len(L) - 1: + st[counter_key] += 1 + +if back: + if st[counter_key] > 1: + st[counter_key] -= 1 + +if len(L): + item = L[st[counter_key]] + +if st[running_key]: + if st[counter_key] < len(L) - 1: + st[counter_key] += 1 + update_component(ghenv, interval) + else: + st[counter_key] = 0 + st[running_key] = False + + + + GhPython provides a Python script component + + 104 + 104 + + + 1363 + 585 + + true + true + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAOvAAADrwBlbxySQAAA4VJREFUSEvllftTTHEYxvsP/Al+ZqbJ0JxzWsYRMYXKJbmMLkwMWpdxKWrXWRGD0TAY5LKuaastwk6b7LGlFbIG1RRq3cLIbZdptLfHey4txjKsn4x35v1l5zuf5znP9zlno/6PudzaPWSTycEnFFv4BH2tvAt2Wfi6lq4Y9Ujks63amTpjj/3O5B0iRm+8BI2uFpqCGsTrzJi97cL7ZH1lqno0sokvbhCF6jZ0PHsHtvAC2A01YPPNYNeZwK45g7H5ZUgrNvHq8T8fbtMVUXvSibPNPQQ/B3Z9Ndi8ChnOrDoOZvkRxC4/+hcCeqvI6S6BLTivwCX3MvyEDP9jgcLTt4cuPOgQuKIGgTPQ6iwCU1ArMOurBSavSpioN4nM6lNgVhwDoy0Fk3sA5XVmY/D1fCH4PF0Y6MnIUlHhJ/tQk4vbbAdnuAxuoxWs7qKaexXYtWcV9yuNBD8MZtl+sMv2oflWLdA7B3g6E8GHKejvWBFe5LD1blbcFoIX2cAJ9Qp8MBr1UgdzZ3IPynAudx+u3zQDj2cAD6cCnYkY6FztUpHfT3qJjaIRyX0DKJqvrcmrJHgZ5Ggk+DfuM7eW4VX7ZgXePhG4Fw+fMwUq8vvRGOql3Cmauq9wcp9kqMHC3RbklJxHzq5zyNlZiUU7K6AvNaHdeQyBB2lAxyTgzljglgaBFi68wBhDnSDBQ60hgd1mK/pfGBDsywbe0vZlAi/nUd4EfZRMkSSR8wTASfCbHNA8EsGmUeEFtKWN1BqCS32nOqbtsOBld4kCHoT3zgaeSfAUOW+0TVCc31DgaIyBzz4+vIDjXg+vKZSckwDlvnhvPfxvin6Ed0twck55o3U00MIo8KvRQMMwfG5dKqrIH2fBHqvI5kmVLCcBK/zvtgCvM5QaPpkZasrP4AFrNNV0/69fvHVHbXzChjN8fH55TKB3rojn6YBrGvBgCgLtyfC3jhP8LWMEv4MT/Nc4wWdnUr02jpe2//aaoSrm9ybwZLqInlQZHrpM2TntdR5BWzS8ttjIv0WBrmQRXZMVuFzDOMARS1FR9/vsJMDQjohcwNu5xBhsoxdIbgpLeY8CmkbQU2TRXWzH5/px7wec2sj/eNA9a4j3fuZK391sl78xDkGRLvPKcKpiInyN04xeR0bk7v/t8Xg8wkePx0gLaT1uN9wfPoR28Hdal3T2k9sd5hMdFfUF5gP2w3Vpj1QAAAAASUVORK5CYII= + + 8eb833bc-241d-412c-9384-3ce6f692c1b6 + false + true + Count through list + counter + + + + + + 3078 + 769 + 109 + 144 + + + 3138 + 841 + + + + + + 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 + + + + + 1 + true + Script variable Python + 1f104a8e-c16b-49fb-b6f9-5b8c16afca59 + L + L + true + 1 + true + e1009be5-d363-4b9d-999c-81eaaa096954 + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + 1 + + + + + + 3080 + 771 + 43 + 20 + + + 3103 + 781 + + + + + + + + true + Script input start. + c4e37635-7276-4e14-a198-fcebc91b6f02 + start + start + true + 0 + true + f2047d4b-e514-4a8e-bb33-6062055d0de9 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 3080 + 791 + 43 + 20 + + + 3103 + 801 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + false + + + + + + + + + + + true + Script input stop. + ba167f6e-7d34-465a-8bdd-b7b284bd529a + stop + stop + true + 0 + true + 964f2efc-e60f-4e49-a50b-6f3162b54715 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 3080 + 811 + 43 + 20 + + + 3103 + 821 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + false + + + + + + + + + + + true + Script input step. + 97a8d722-1f38-4bca-ab70-04d8ba9ef383 + step + step + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 3080 + 831 + 43 + 20 + + + 3103 + 841 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + false + + + + + + + + + + + true + Script input back. + fddfbc65-b016-4065-b9de-fd82f6b5b01d + back + back + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 3080 + 851 + 43 + 20 + + + 3103 + 861 + + + + + + + + true + Script input reset. + 1b6319c5-4346-4bf2-ae19-1ddcad0004f7 + reset + reset + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 3080 + 871 + 43 + 20 + + + 3103 + 881 + + + + + + + + true + Script input interval. + 86d27f0a-f1e6-4798-bc5b-27b9ca02c639 + interval + interval + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 3080 + 891 + 43 + 20 + + + 3103 + 901 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Integer + 1 + + + + + + + + + + + Script output item. + 418b7182-d840-4cc3-9cc1-60e0eb166726 + item + item + false + 0 + + + + + + 3153 + 771 + 32 + 140 + + + 3169 + 841 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + f2047d4b-e514-4a8e-bb33-6062055d0de9 + Button + start + false + 0 + + + + + + 2945 + 755 + 92 + 22 + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 964f2efc-e60f-4e49-a50b-6f3162b54715 + Button + stop + false + 0 + + + + + + 2945 + 781 + 91 + 22 + + + + + + + + + + 0e4bd23a-a653-42b9-adf6-d850babc41e6 + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Constraints From Plane + + + + + Create a position and an orientation constraint from a plane calculated for the group's end-effector link. + 39901443-aa14-4ed6-9e1b-da09ebc0fafa + Constraints From Plane + Constraints From Plane + + + + + + 2292 + 1620 + 193 + 164 + + + 2405 + 1702 + + + + + + The robot. + 676edcb8-377b-4b9e-bed1-a5cb6dd71014 + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 2 + + + + + + 2294 + 1622 + 96 + 22 + + + 2343.5 + 1633.429 + + + + + + + + The plane from which we create position and orientation constraints. + 119fead9-4d88-477f-92e5-3dc3503ee6e1 + plane + plane + true + c4cbbc81-783f-419c-8a78-37487e8340e5 + 1 + 1 + + + + + + 2294 + 1644 + 96 + 23 + + + 2343.5 + 1656.286 + + + + + + + + The planning group for which we specify the constraint. Defaults to the robot's main planning group. + c81f56c0-5aa2-4f2d-bf73-500798721dc9 + group + group + true + a4ba20b0-b75f-4aa5-afc4-9bebeee85ea4 + 1 + 2 + + + + + + 2294 + 1667 + 96 + 23 + + + 2343.5 + 1679.143 + + + + + + + + The allowed tolerance to the frame's position (defined in the robot's units). Defaults to 0.001 + d3bf446a-9e45-43e5-804b-0563c062ce20 + tolerance_position + tolerance_position + true + bac1335b-83f6-40d7-925f-030c8e5e0e8d + 1 + + + + + + 2294 + 1690 + 96 + 23 + + + 2343.5 + 1702 + + + + + + + + Error tolerance of the frame's x-axis in degrees. + 04a93c8a-ed02-4b8d-b625-4b32754df1d6 + tolerance_xaxis + tolerance_xaxis + true + 442ffd44-e14b-4346-84b6-aa44d884bdd4 + 1 + + + + + + 2294 + 1713 + 96 + 23 + + + 2343.5 + 1724.857 + + + + + + + + Error tolerance of the frame's y-axis in degrees. + c18383fb-a321-4e40-aa8a-c044ca988cd4 + tolerance_yaxis + tolerance_yaxis + true + ee661a2b-923e-4adc-bd62-542359503ccc + 1 + + + + + + 2294 + 1736 + 96 + 23 + + + 2343.5 + 1747.714 + + + + + + + + Error tolerance of the frame's z-axis in degrees. + 0379216c-4d7d-4f41-b339-d6595f91f06f + tolerance_zaxis + tolerance_zaxis + true + c34db472-6b50-43ae-8234-0909303a1a36 + 1 + + + + + + 2294 + 1759 + 96 + 23 + + + 2343.5 + 1770.571 + + + + + + + + A list containing a position and an orientation constraint. + b79bff64-442a-4103-b70c-e2666072f5ba + constraints + constraints + true + 0 + + + + + + 2420 + 1622 + 63 + 160 + + + 2451.5 + 1702 + + + + + + + + + + + + 55860c66-35b8-4fad-a6a7-77e243ce1e59 + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Plan Motion + + + + + Calculate a motion path. + efe151e7-41db-4d06-aad7-c0144b16a5c5 + Plan Motion + Plan Motion + + + + + + 2546 + 1622 + 224 + 164 + + + 2697 + 1704 + + + + + + The robot. + c6569f11-0327-4e3f-936a-4e92c437bb78 + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 2 + + + + + + 2548 + 1624 + 134 + 20 + + + 2616.5 + 1634 + + + + + + + + 1 + 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. + c4b0d48c-803a-4c4d-a8d6-2cae843aa603 + goal_constraints + goal_constraints + true + b79bff64-442a-4103-b70c-e2666072f5ba + 1 + + + + + + 2548 + 1644 + 134 + 20 + + + 2616.5 + 1654 + + + + + + + + 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. + f888bf28-273d-4e5a-aa34-a5f9e522cc52 + start_configuration + start_configuration + true + a9139682-5866-41f7-a884-3df47c63db76 + 1 + + + + + + 2548 + 1664 + 134 + 20 + + + 2616.5 + 1674 + + + + + + + + The planning group used for calculation. Defaults to the robot's main planning group. + 45d86b7b-a366-420d-96df-5cea0ead5f92 + group + group + true + a4ba20b0-b75f-4aa5-afc4-9bebeee85ea4 + 1 + 2 + + + + + + 2548 + 1684 + 134 + 20 + + + 2616.5 + 1694 + + + + + + + + 1 + A list of attached collision meshes to be included for planning. + 337c907e-8b63-4a4e-a8c4-72d20ab7ad2a + attached_collision_meshes + attached_collision_meshes + true + e6861de7-b571-4e77-b254-e8cbd704daba + 1 + + + + + + 2548 + 1704 + 134 + 20 + + + 2616.5 + 1714 + + + + + + + + 1 + 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. + 1067a469-4581-4d28-930c-89ed3f660083 + path_constraints + path_constraints + true + 0 + + + + + + 2548 + 1724 + 134 + 20 + + + 2616.5 + 1734 + + + + + + + + The name of the algorithm used for path planning. Defaults to 'RRTConnectkConfigDefault' + db72a49f-5ca1-4b6f-9ad3-e05cc107afe7 + planner_id + planner_id + true + ec9f1a24-406c-4aba-a41e-6a904f2477d1 + 1 + + + + + + 2548 + 1744 + 134 + 20 + + + 2616.5 + 1754 + + + + + + + + If `True`, calculates a trajectory. + 323b9cad-b164-465a-b3b2-92ea5facce54 + compute + compute + true + 2e98940e-c125-482d-b4d1-a656dc2a60e6 + 1 + + + + + + 2548 + 1764 + 134 + 20 + + + 2616.5 + 1774 + + + + + + + + The calculated trajectory. + 34bc59fa-c4f0-4557-84b4-648c7a64d928 + trajectory + trajectory + true + 0 + + + + + + 2712 + 1624 + 56 + 160 + + + 2740 + 1704 + + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 47da5ac5-45ff-4e3b-8751-f81bcaca2184 + Panel + fraction + false + 0 + 26462f73-2b5a-42f5-aa54-33ab391c0fb1 + 1 + Double click to edit panel content… + 1 + + + + + + 2862 + 1753 + 186 + 39 + + 0 + 0 + 0 + + 2862.796 + 1753.141 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 6.4 + + + + + + + + + + + 2b69bf71-4e69-43aa-b7be-4f6ce7e45bef + Quick Graph + + + + + 1 + Display a set of y-values as a graph + c6364ccc-118a-4787-b1ab-7f587548ed10 + Quick Graph + prismatic + false + 0 + 3e0f4964-a086-40d1-b674-9b8e346ad5dc + 1 + 2 + + + + + + 2822 + 1892 + 217 + 150 + + + 2822.848 + 1892.194 + + -1 + + + + + + + + + 2b69bf71-4e69-43aa-b7be-4f6ce7e45bef + Quick Graph + + + + + 1 + Display a set of y-values as a graph + 1c417669-4c93-4d7c-ac35-c45da55f7b35 + Quick Graph + Graph + false + 0 + c1c310f1-fb6d-4a77-9fe4-ca6b2d93794b + 1 + 2 + + + + + + 3055 + 1893 + 217 + 150 + + + 3055.777 + 1893 + + -1 + + + + + + + + + 2b69bf71-4e69-43aa-b7be-4f6ce7e45bef + Quick Graph + + + + + 1 + Display a set of y-values as a graph + 6a9f2dd4-a605-468a-8209-57a8e1f56fb9 + Quick Graph + Graph + false + 0 + fabe274a-a05f-4b97-9f9b-0bfbf025a2c2 + 1 + 2 + + + + + + 3057 + 2090 + 217 + 150 + + + 3057.817 + 2090.04 + + -1 + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 80e78538-ad35-429c-8adb-d83bb1d0206a + Panel + + false + 0 + 0 + velocities + + + + + + 3082 + 1864 + 160 + 22 + + 0 + 0 + 0 + + 3082.024 + 1864.425 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 161aa446-2161-4553-b5a6-fc1eaa64a124 + Panel + + false + 0 + 0 + positions + + + + + + 2844 + 1861 + 160 + 23 + + 0 + 0 + 0 + + 2844.504 + 1861.846 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + 18e2f3eb-f59c-4a67-a3a0-bad36570d161 + Panel + time (s) + false + 0 + 70b25e09-faaa-4749-a276-10ebd4ce290c + 1 + positions + 1 + + + + + + 2863 + 1796 + 187 + 44 + + 0 + 0 + 0 + + 2863.718 + 1796.072 + + + + + + + 255;255;255;255 + + false + false + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 59e0b89a-e487-49f8-bab8-b5bab16be14c + Panel + + + + + A panel for custom notes and text values + c1abe130-4be1-4b01-bb3c-2fbe9ae2fe03 + Panel + + false + 0 + 0 + accelerations + + + + + + 3085 + 2061 + 160 + 20 + + 0 + 0 + 0 + + 3085.339 + 2061.043 + + + + + + + 255;255;255;255 + + true + true + true + false + false + true + + + + + Courier New + 5.33333349 + + + + + + + + + + + 71b5b089-500a-4ea6-81c5-2f960441a0e8 + PolyLine + + + + + Create a polyline connecting a number of points. + true + 2 + 28493de7-1025-4663-b1d7-09d55c1f0dda + PolyLine + PLine + + + + + + 3099 + 1707 + 67 + 44 + + + 3130 + 1729 + + + + + + 1 + Polyline vertex points + b374c437-fb80-481d-b17b-97b3daedfd1a + Vertices + V + false + 04385dd1-0ece-4d8e-9549-12bfaea6b13f + 1 + + + + + + 3101 + 1709 + 14 + 20 + + + 3109.5 + 1719 + + + + + + + + Close polyline + b6fe2d9a-2238-4b9f-a0ba-5cb2f1554cd9 + Closed + C + false + 0 + + + + + + 3101 + 1729 + 14 + 20 + + + 3109.5 + 1739 + + + + + + 1 + + + + + 1 + {0} + + + + + false + + + + + + + + + + + Resulting polyline + da8e93cf-8bde-4fcb-9de0-2e16d7a85c4b + Polyline + Pl + false + 0 + + + + + + 3145 + 1709 + 19 + 40 + + + 3154.5 + 1729 + + + + + + + + + + + + 537b0419-bbc2-4ff4-bf08-afe526367b2c + Custom Preview + + + + + Allows for customized geometry previews + 2 + true + ba4f65e6-5bfc-4956-a542-e82618a4645c + Custom Preview + Preview + + + + + + + 3199 + 1711 + 48 + 44 + + + 3233 + 1733 + + + + + + Geometry to preview + true + d8a92012-9f13-41f1-b39b-474dc288c718 + Geometry + G + false + da8e93cf-8bde-4fcb-9de0-2e16d7a85c4b + 1 + + + + + + 3201 + 1713 + 17 + 20 + + + 3211 + 1723 + + + + + + + + The material override + 769b9e5b-0aa3-44d1-bef3-fd54813701ac + Material + M + false + 06874fd2-8db3-456e-820b-82d740d47815 + 1 + + + + + + 3201 + 1733 + 17 + 20 + + + 3211 + 1743 + + + + + + 1 + + + + + 1 + {0} + + + + + + 255;221;160;221 + + + 255;66;48;66 + + 0.5 + + 255;255;255;255 + + 0 + + + + + + + + + + + + + + + ecc3982a-7de6-4de0-80fd-b4505383b85d + 237883f1-9678-4abe-9e20-2ceed9e6c611 + Trajectory Visualize + + + + + Visualizes the trajectory. + 3dd531dc-214f-4898-a927-b15007d8bee8 + Trajectory Visualize + Trajectory Visualize + + + + + + 2859 + 1575 + 188 + 164 + + + 2929 + 1657 + + + + + + The robot. + 39536135-adf8-421f-a600-cf580581559c + robot + robot + true + c7f8da5e-4847-4d6a-84ce-974c74fd230b + 1 + 2 + + + + + + 2861 + 1577 + 53 + 53 + + + 2889 + 1603.667 + + + + + + + + The planning group for which this trajectory was planned. + 1c1d5ce8-5d16-4a34-b18a-6c874fcbf53f + group + group + true + a4ba20b0-b75f-4aa5-afc4-9bebeee85ea4 + 1 + 2 + + + + + + 2861 + 1630 + 53 + 53 + + + 2889 + 1657 + + + + + + + + The calculated trajectory. + 1ee578eb-755e-4fac-9af6-ad1cc528d1a2 + trajectory + trajectory + true + 34bc59fa-c4f0-4557-84b4-648c7a64d928 + 1 + + + + + + 2861 + 1683 + 53 + 54 + + + 2889 + 1710.333 + + + + + + + + The start configuration of the trajectory. + 974879a3-6b79-4c12-88a7-d915d6e9df2c + start_configuration + start_configuration + true + 0 + + + + + + 2944 + 1577 + 101 + 20 + + + 2994.5 + 1587 + + + + + + + + The full configurations along the trajectory. + 4c5b00ba-66de-4846-b884-c73403e8ec15 + configurations + configurations + true + 0 + + + + + + 2944 + 1597 + 101 + 20 + + + 2994.5 + 1607 + + + + + + + + Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found. + 26462f73-2b5a-42f5-aa54-33ab391c0fb1 + fraction + fraction + true + 0 + + + + + + 2944 + 1617 + 101 + 20 + + + 2994.5 + 1627 + + + + + + + + The time which is needed to execute that trajectory at full speed. + 70b25e09-faaa-4749-a276-10ebd4ce290c + time + time + true + 0 + + + + + + 2944 + 1637 + 101 + 20 + + + 2994.5 + 1647 + + + + + + + + The planes of the robot's end-effector. + 04385dd1-0ece-4d8e-9549-12bfaea6b13f + planes + planes + true + 0 + + + + + + 2944 + 1657 + 101 + 20 + + + 2994.5 + 1667 + + + + + + + + The positions along the trajectory + 3e0f4964-a086-40d1-b674-9b8e346ad5dc + P + P + true + 0 + + + + + + 2944 + 1677 + 101 + 20 + + + 2994.5 + 1687 + + + + + + + + The velocities along the trajectory + c1c310f1-fb6d-4a77-9fe4-ca6b2d93794b + V + V + true + 0 + + + + + + 2944 + 1697 + 101 + 20 + + + 2994.5 + 1707 + + + + + + + + The accellerations along the trajectory + fabe274a-a05f-4b97-9f9b-0bfbf025a2c2 + A + A + true + 0 + + + + + + 2944 + 1717 + 101 + 20 + + + 2994.5 + 1727 + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Count through list + + + + + from scriptcontext import sticky as st +from compas_ghpython.utilities import update_component + +if not interval: + interval = 5 + +# store data in component +guid = str(ghenv.Component.InstanceGuid) +counter_key = "counter_" + guid +running_key = "running_" + guid + +if counter_key not in st or reset: + st[counter_key] = 0 + +if running_key not in st: + st[running_key] = False + + + + +if start: + st[running_key] = True + +if stop: + st[running_key] = False + +if step: + if st[counter_key] < len(L) - 1: + st[counter_key] += 1 + +if back: + if st[counter_key] > 1: + st[counter_key] -= 1 + +if len(L): + item = L[st[counter_key]] + +if st[running_key]: + if st[counter_key] < len(L) - 1: + st[counter_key] += 1 + update_component(ghenv, interval) + else: + st[counter_key] = 0 + st[running_key] = False + + + + GhPython provides a Python script component + + 104 + 104 + + + 1363 + 585 + + true + true + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAOvAAADrwBlbxySQAAA4VJREFUSEvllftTTHEYxvsP/Al+ZqbJ0JxzWsYRMYXKJbmMLkwMWpdxKWrXWRGD0TAY5LKuaastwk6b7LGlFbIG1RRq3cLIbZdptLfHey4txjKsn4x35v1l5zuf5znP9zlno/6PudzaPWSTycEnFFv4BH2tvAt2Wfi6lq4Y9Ujks63amTpjj/3O5B0iRm+8BI2uFpqCGsTrzJi97cL7ZH1lqno0sokvbhCF6jZ0PHsHtvAC2A01YPPNYNeZwK45g7H5ZUgrNvHq8T8fbtMVUXvSibPNPQQ/B3Z9Ndi8ChnOrDoOZvkRxC4/+hcCeqvI6S6BLTivwCX3MvyEDP9jgcLTt4cuPOgQuKIGgTPQ6iwCU1ArMOurBSavSpioN4nM6lNgVhwDoy0Fk3sA5XVmY/D1fCH4PF0Y6MnIUlHhJ/tQk4vbbAdnuAxuoxWs7qKaexXYtWcV9yuNBD8MZtl+sMv2oflWLdA7B3g6E8GHKejvWBFe5LD1blbcFoIX2cAJ9Qp8MBr1UgdzZ3IPynAudx+u3zQDj2cAD6cCnYkY6FztUpHfT3qJjaIRyX0DKJqvrcmrJHgZ5Ggk+DfuM7eW4VX7ZgXePhG4Fw+fMwUq8vvRGOql3Cmauq9wcp9kqMHC3RbklJxHzq5zyNlZiUU7K6AvNaHdeQyBB2lAxyTgzljglgaBFi68wBhDnSDBQ60hgd1mK/pfGBDsywbe0vZlAi/nUd4EfZRMkSSR8wTASfCbHNA8EsGmUeEFtKWN1BqCS32nOqbtsOBld4kCHoT3zgaeSfAUOW+0TVCc31DgaIyBzz4+vIDjXg+vKZSckwDlvnhvPfxvin6Ed0twck55o3U00MIo8KvRQMMwfG5dKqrIH2fBHqvI5kmVLCcBK/zvtgCvM5QaPpkZasrP4AFrNNV0/69fvHVHbXzChjN8fH55TKB3rojn6YBrGvBgCgLtyfC3jhP8LWMEv4MT/Nc4wWdnUr02jpe2//aaoSrm9ybwZLqInlQZHrpM2TntdR5BWzS8ttjIv0WBrmQRXZMVuFzDOMARS1FR9/vsJMDQjohcwNu5xBhsoxdIbgpLeY8CmkbQU2TRXWzH5/px7wec2sj/eNA9a4j3fuZK391sl78xDkGRLvPKcKpiInyN04xeR0bk7v/t8Xg8wkePx0gLaT1uN9wfPoR28Hdal3T2k9sd5hMdFfUF5gP2w3Vpj1QAAAAASUVORK5CYII= + + 481a194f-1740-4c9b-85da-d92118c5df38 + false + true + Count through list + counter + + + + + + 3160 + 1534 + 109 + 144 + + + 3220 + 1606 + + + + + + 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 + + + + + 1 + true + Script variable Python + eb7d1a9b-cb30-4f93-9efb-d08feabee848 + L + L + true + 1 + true + 4c5b00ba-66de-4846-b884-c73403e8ec15 + 1 + 35915213-5534-4277-81b8-1bdc9e7383d2 + 1 + + + + + + 3162 + 1536 + 43 + 20 + + + 3185 + 1546 + + + + + + + + true + Script input start. + 76532276-a59b-401d-b760-bcc5f177f8c6 + start + start + true + 0 + true + 2e884c46-7eee-4397-90cc-2da840a40594 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 3162 + 1556 + 43 + 20 + + + 3185 + 1566 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + false + + + + + + + + + + + true + Script input stop. + 5988ca8e-9872-4338-b21e-92ca0b27653e + stop + stop + true + 0 + true + 00eddb3b-2d51-426e-8942-a77624a20bae + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 3162 + 1576 + 43 + 20 + + + 3185 + 1586 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + false + + + + + + + + + + + true + Script input step. + c2422d89-de05-4af6-804e-0692c34f57ff + step + step + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 3162 + 1596 + 43 + 20 + + + 3185 + 1606 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + false + + + + + + + + + + + true + Script input back. + 8497b148-f6db-4407-a608-535768fd62d1 + back + back + true + 0 + true + 0 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 3162 + 1616 + 43 + 20 + + + 3185 + 1626 + + + + + + + + true + Script input reset. + 1bcb446f-f3f0-438a-b2db-dce718fede07 + reset + 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 + + + + + \ No newline at end of file diff --git a/compas_fab/pull_394/_downloads/b1a04b35f3564efcee059bb1199d3cb2/docker-compose.yml b/compas_fab/pull_394/_downloads/b1a04b35f3564efcee059bb1199d3cb2/docker-compose.yml new file mode 100644 index 000000000..d54208420 --- /dev/null +++ b/compas_fab/pull_394/_downloads/b1a04b35f3564efcee059bb1199d3cb2/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - ur10_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/b7e0bff9702a9afc8768d4d6ba208f48/01_grasshopper_basic_example.ghx b/compas_fab/pull_394/_downloads/b7e0bff9702a9afc8768d4d6ba208f48/01_grasshopper_basic_example.ghx new file mode 100644 index 000000000..959147cf2 --- /dev/null +++ b/compas_fab/pull_394/_downloads/b7e0bff9702a9afc8768d4d6ba208f48/01_grasshopper_basic_example.ghx @@ -0,0 +1,1226 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + c698f008-a5b7-45f9-b4fa-a7303d1b8f66 + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 636250884033086912 + + 01_grasshopper_basic_example.ghx + + + + + 0 + + + + + + -2648 + -943 + + 1.5 + + + + + 0 + + + + + + + 0 + + + + + 1 + + + + + GhPython, Version=6.25.20114.3572, Culture=neutral, PublicKeyToken=null + 6.25.20114.3572 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + 12 + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 8e8cedc4-f084-4bbc-aa47-a5fda6a03462 + bd36ef14-d86c-4a44-89c1-1713b7033f73 + f1201b71-0c78-4640-a200-bf3eab5cc294 + 7ed37be7-8051-48b0-9005-16a86d204dd8 + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + 3441c3d2-8dfa-4005-a0fd-12869b7f7013 + 974e7c7b-c20d-43cf-8ad0-51a85017cee9 + 8 + a4c3ed9c-f977-4436-8ed3-8abee195481f + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import logging +from compas.datastructures import Mesh +from compas.geometry import Frame +from compas_rhino.geometry import RhinoMesh + +from compas_fab.robots import * +from compas_fab.robots import rfl +from compas_fab.backends import VrepClient + +logging.basicConfig(level=logging.DEBUG) + +start_pose = Frame(gripping_plane.Origin, gripping_plane.XAxis, gripping_plane.YAxis) +goal_pose = Frame(goal_plane.Origin, goal_plane.XAxis, goal_plane.YAxis) + + +if trigger: + building_member_mesh = RhinoMesh.from_guid(building_member).to_compas() + + with VrepClient() as client: + robot = rfl.Robot(selected_robot) + client.planner.pick_building_member(robot, building_member_mesh, start_pose) + pickup_config = client.get_robot_config(robot) + + path = client.plan_motion(robot, goal_pose, group=robot.model.attr['index']) + if len(path) > 0: + path.insert(0, pickup_config) + print('Found path of %d steps' % len(path)) + else: + print('No path found') + + GhPython provides a Python script component + + 108 + 262 + + + 2003 + 976 + + true + true + false + 21628e5e-281a-47a6-9cc8-eedefc282624 + false + true + Python Script + Path planning + + + + + + 2088 + 785 + 148 + 104 + + + 2191 + 837 + + true + + + + + 5 + 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 + 3 + 3ede854e-c753-40eb-84cb-b48008f14fd4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Tests building mesh + 0449613b-22c9-4dbb-8c7c-4e88bcf7f154 + trigger + trigger + true + 0 + true + 974e7c7b-c20d-43cf-8ad0-51a85017cee9 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2090 + 787 + 86 + 20 + + + 2134.5 + 797 + + true + + + + + + + true + Script input selected_robot. + cba90a53-0024-4189-beb5-a0f327165fe5 + selected_robot + selected_robot + true + 0 + true + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 2090 + 807 + 86 + 20 + + + 2134.5 + 817 + + true + + + + + + + true + Script input gripping_plane. + 7e85399e-f195-408f-95eb-9204c140ea1a + gripping_plane + gripping_plane + true + 0 + true + 8e8cedc4-f084-4bbc-aa47-a5fda6a03462 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2090 + 827 + 86 + 20 + + + 2134.5 + 837 + + true + + + + + + + true + Script input goal_plane. + 6427a625-63ad-4fbc-a3a9-7044fe8e6b1c + goal_plane + goal_plane + true + 0 + true + f1201b71-0c78-4640-a200-bf3eab5cc294 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2090 + 847 + 86 + 20 + + + 2134.5 + 857 + + true + + + + + + + true + Script input building_member. + baaf6cad-0cf1-44ef-828a-53ed5e854d37 + building_member + building_member + true + 0 + true + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2090 + 867 + 86 + 20 + + + 2134.5 + 877 + + true + + + + + + + The execution information, as output and error streams + c5cf4bc6-c4b4-494d-bf62-a51d4a619b19 + out + out + false + 0 + + + + + + 2206 + 787 + 28 + 33 + + + 2220 + 803.6667 + + true + + + + + + + Script output path. + 1287d8c0-c15f-4710-ad0d-a681c9d1b5f3 + path + path + false + 0 + + + + + + 2206 + 820 + 28 + 33 + + + 2220 + 837 + + true + + + + + + + Script output a. + 09138efa-f616-46fa-b33e-e04f574f26ae + a + a + false + 0 + + + + + + 2206 + 853 + 28 + 34 + + + 2220 + 870.3334 + + true + + + + + + + + + + + + + 00027467-0d24-4fa7-b178-8dc0ac5f42ec + Value List + + + + + Provides a list of preset values to choose from + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 4 + 1 + Value List + List + false + 0 + + + + + "A" + Robot A + true + + + + + "B" + Robot B + false + + + + + "C" + Robot C + false + + + + + "D" + Robot D + false + + + + + + 1877 + 799 + 71 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 974e7c7b-c20d-43cf-8ad0-51a85017cee9 + Boolean Toggle + Trigger + false + 0 + true + + + + + + 1892 + 764 + 101 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + import logging +import scriptcontext as sc + +from compas_fab.robots import * +from compas_fab.robots import rfl +from compas_fab.backends import VrepClient +from compas_fab.ghpython import PathVisualizer + +LOG = logging.getLogger('visualization') + +##if "scene_meshes" in sc.sticky: +## del sc.sticky["scene_meshes"] + +if path: + with VrepClient(debug=True) as simulator: + frame_index = ((len(path) - 1) * frame) // 100 + LOG.debug('Rendering frame %d out of %d', frame_index + 1, len(path)) + + robot = rfl.Robot(selected_robot, client=simulator) + visualizer = PathVisualizer(simulator, robot, building_member) + a = visualizer.get_frame_meshes(path, frame_index, sc.sticky) + + GhPython provides a Python script component + + 142 + 185 + + + 1628 + 976 + + true + false + 6d1a0bb9-08b5-490d-85b2-27db22cb9e7a + false + true + Python Script + Visualization + + + + + + 2342 + 789 + 142 + 87 + + + 2445 + 833 + + + + + + 4 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 3ede854e-c753-40eb-84cb-b48008f14fd4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script input frame. + 8166d33b-5df7-429e-b3d1-a7338ea5c19b + frame + frame + true + 0 + true + a6f3c0b0-b067-4fa7-8822-61d6cccfdf9d + 1 + 48d01794-d3d8-4aef-990e-127168822244 + 2 + + + + + + 2344 + 791 + 86 + 20 + + + 2388.5 + 801.375 + + + + + + + + true + Script input selected_robot. + c592f098-c735-4e32-8519-a36729175047 + selected_robot + selected_robot + true + 0 + true + 29825b68-9d23-49a1-90c2-b6e3999a7191 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2344 + 811 + 86 + 21 + + + 2388.5 + 822.125 + + + + + + + + true + Script input building_member. + 36016298-e5d8-4014-b442-2893f40e42c3 + building_member + building_member + true + 0 + true + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2344 + 832 + 86 + 21 + + + 2388.5 + 842.875 + + + + + + + + 1 + true + Script input path. + 985e4a87-b5e4-4ea8-a745-3666cdcb42eb + path + path + true + 1 + true + 1287d8c0-c15f-4710-ad0d-a681c9d1b5f3 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2344 + 853 + 86 + 21 + + + 2388.5 + 863.625 + + + + + + + + The execution information, as output and error streams + 9ab68023-04f8-4515-adc8-9a413d737003 + out + out + false + 0 + + + + + + 2460 + 791 + 22 + 41 + + + 2471 + 811.75 + + + + + + + + Script output a. + d58f0f26-2368-452c-a3c1-fb1a4b28f3da + a + a + false + 0 + + + + + + 2460 + 832 + 22 + 42 + + + 2471 + 853.25 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + a6f3c0b0-b067-4fa7-8822-61d6cccfdf9d + Number Slider + + false + 0 + + + + + + 2332 + 756 + 161 + 20 + + + 2332.854 + 756.9421 + + + + + + 3 + 0 + 1 + 100 + 0 + 0 + 100 + + + + + + + + + 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 + Plane + + + + + Contains a collection of three-dimensional axis-systems + 8e8cedc4-f084-4bbc-aa47-a5fda6a03462 + Plane + Gripping plane + false + 0 + + + + + + 1915 + 835 + 80 + 20 + + + 1955.44 + 845.724 + + + + + + 1 + + + + + 1 + {0} + + + + + + 7.453 + 2.905 + 0.679 + 1 + 0 + 0 + 0 + -1 + 0 + + + + + + + + + + + + + + 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 + Plane + + + + + Contains a collection of three-dimensional axis-systems + f1201b71-0c78-4640-a200-bf3eab5cc294 + Plane + Goal plane + false + 0 + + + + + + 1934 + 869 + 61 + 20 + + + 1965.49 + 879.0574 + + + + + + 1 + + + + + 1 + {0} + + + + + + 12.037160567043 + 7.811497132033 + 2 + 0 + -1 + 0 + -0.021177596150266 + 0 + -0.999775729562034 + + + + + + + + + + + + + + 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe + Scribble + + + + + false + + 1813.714 + 734.7136 + + + 1897.597 + 734.7136 + + + 1897.597 + 749.7214 + + + 1813.714 + 749.7214 + + A quick note + Microsoft Sans Serif + 3441c3d2-8dfa-4005-a0fd-12869b7f7013 + false + Scribble + Scribble + 16 + Basic config + + + + + + 1808.714 + 729.7136 + 93.88281 + 25.00781 + + + 1813.714 + 734.7136 + + + + + + + + + + 1e936df3-0eea-4246-8549-514cb8862b7a + Mesh + + + + + Contains a collection of polygon meshes + 5ecee712-0d6a-48a7-a5ef-db97e78310d5 + Mesh + Building member + false + 0 + + + + + + 1904 + 901 + 91 + 20 + + + 1949.67 + 911.7958 + + + + + + 1 + + + + + 1 + {0} + + + + + + Y2BkYGD4DwQgGgR4mIBEWFBGZl6+c35ubn6ejkJYalFxZn6erZmekamekYGhoYmesam5kY6Cc2lOSWlRqm1eamlJUWKOjkJAaVJOZrJ3amVIfnZqnq2pqZGRhWGqpXmyuampqbEBK8gSYbDZeu6p+bmpJUWVer6pxRksQHH2Mog1XIlFyRmZZanGKbmc+QWpeXmlRUnFLCmJJYkgRRwcHEwgFwqoMzDYAOmqkpQeTmYggx9E1LMzMDD9qmdiKGaH+Ob3fyYGEajPnly57uf+8rLg/qcMAs2MSh90d0rH/AHKW0PVWhQAiRogviRrPG/vj6f/yaUZ0MAuzyMOHY4WDi2vL9r5JfE4FtpaObS9FrRnYGhAxvuRMIoYLGoYGMEhwMrKycrGJiYiLCwuIiHBwCEvz8DCwcEuJy/PLs/BwcXGwsLOKifHwcLGJivHyiojy8srLiUsLCUNVC8hKSkuKSXFKCEkxCgpIcEnLSMjy8rLy8TNxcXExcLCyc3Dw8nFzc3Jw8rKy8rDwy8sLS0qLCAgISIkJCYkIiIqKCYmxgxkCzIziwoICvILCAsraysoaOlqampp6+ioaCgqqqkbGBgqqampa+jr6ylqajo42tnZO9nZ+fr4+/sGBgQYOdrYGNk6OjpY29g42Dg62ts6OzvYWVvbO9raWlnb2blZWln5BJibW/iYmwcEmpkFmJmbGwd6exubBQZaWLq7u1nZ2Zm4ODubONvaOrm4ujo5u7jYObm6urrZ2Vl4+Pj4+Xh6+noHBvr6e3v7efn7+5t6e/t7mZr6eXp5eXj6+IQmBwUlRSYmJiVHRIQlBAfHxMXHh8TFxkbHJyQEJ0ZFZWakpaWmZ2Rk5eTnZ+fn5XGwAcObjYtLVAwYfsIiInwyvLx8/NLSyjra2rp6QH/r6Oqq6GtoGKoB/a2qpKSub2CgoqinZ28H9Juzk5Ofv4+Pb4CPj5u7paWFu4dHcmhERGJkVFRSRGRkdEJYWExsXFxIbHh4dEx8fFRYcHBmWkpKZmpGRk4e0P683FwHVgaGiNifsxkZGhgc4qBJoeJW6pSNXsyOIq6egkkTDzVo/OAWC3MSmHO27NaNJZ6piYI5R/MnPIj/wVp34FqZ06El3omKjSZOXLNXTLWZ9vte4XbrmLT0d7ur01etvn7x79GfLz4aL399u05zXYy8yEJ+rpfT5fe/fJP28o9tXfbLyy+PlSa/ZNff67Tr48Wsd+m2d9bOEd+99fPJnNc21n8K/0WV3bn9uXB9TpWZ/e/J6z6//B3nbc5/qXfp7PSXxzbW+xXm+T1UX/5hZvCP85rPTmk++zvfOD0n7V8IX23vjWsdltbGiWFnJlsa1ye/zcw+8m3tjW8ityO/KCxL/8Wz993sGfeL/Ocdvfmy3e5lfPrKyUmv44LD1Y9euppY+Cb+f3Dhj5XWCnz/S9NvfXbje7Xkxq7rV656biwpjTgz52X7zPAdv9/o3mcsmyqbtv1m/T3ue+LnTsvM4DdO2XZmTvHG5Dmt5V3vRX8fkLnhf+6c9YnvLf9f8zPN0P+8oIklDxTkD8UTr4GDXIcBFuTJCQyNbNVsFhKpl+fbxvy9tkHeM2eKb/m3gi/SV88s8opiZyivzJ9oeerGZPQCACsAmr0EKV8z4lPL8MGeKDNppC7TZsZiRkaQG4GOvgF1KczBoFKzgYuB4dbLKdVgBZvhibR1mq4HS6BIqyOL6xGVHa+1+oRTug8qcB8yWu16VGOGmOHsHqVNtY4GM3yV2A4mmEj5/GMTfM/1quvgouCQbZbKd4re15w5ls+ff8/6+5lKYflYndBZrbcOvb724GSN/9pb3ws2BE7VmBVnG31Hstzm3JXtjvfLfv1697N85z+Zue/qVf/zWNeJb7Pq/Zq07t8ro7+2lnuLVv/XXK6912Lvp51bv9/eEFry+752yXoen2ky/lfnHut4PPVZzqZLKx7/t5Ap/lNsXZinVlDz4uOv8p+6J75G/vXMqL9e+OCH76ZTiZrx6+0igKaFz18bV/ntH+s57Qf9DfOZ/nGf8U7YNyd9VnLcuffm9mrLqv5aTXttNe3yHU31Kdqn1J/O/LT+zrvg6xtj5mfvfHe5yFb8Z4LlT5+6tNesX5rOL629tDPj3RP+n57/bhffnLclplrfP7/6UtHq7bY5qJZ0P3v9OQEo83avzd63nqfX3vu24emU9E/tRXKH9/rXet9nvrL6yuErt6/8L4m/8Nfp81KbgDqN9inRpyzPdlf1PHP6LlIbH2gfILfCPvNdCf+l75x74+v7FKv5eU299G6fj971Yfkxb/NOCYerFS/VDDnYHWy5ri8usL1lb28at8uzR9HB42GVyDp3mPgj+5LDE6X/1zM1wJIMN3EpaxSMglEwCkbBKBgFowAPAAA= + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Python Script + + + + + if reload: + from compas_ghpython import unload_modules + unload_modules('compas') + + + GhPython provides a Python script component + + 196 + 196 + + + 967 + 719 + + true + true + 4887c46d-3f03-4b2e-ad62-bafa9242fe72 + false + true + Python Script + py + + + + + + 159 + -37 + 65 + 28 + + + 210 + -23 + + + + + + 1 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 0 + + + + + true + Script variable Python + 663e0993-fad7-4d01-bf6f-5f0246090278 + reload + reload + true + 0 + true + 108bd6b4-a366-4c37-b0f2-baafae9f0fb7 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 161 + -35 + 34 + 24 + + + 179.5 + -23 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 108bd6b4-a366-4c37-b0f2-baafae9f0fb7 + Button + reload + false + 0 + + + + + + 33 + -34 + 97 + 22 + + + + + + + + + + + + + + + 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 + + + + + diff --git a/compas_fab/pull_394/_downloads/bd9864cd387792c3d75c7b96a0d20a41/02_robot_artist_blender.py b/compas_fab/pull_394/_downloads/bd9864cd387792c3d75c7b96a0d20a41/02_robot_artist_blender.py new file mode 100644 index 000000000..5277266b5 --- /dev/null +++ b/compas_fab/pull_394/_downloads/bd9864cd387792c3d75c7b96a0d20a41/02_robot_artist_blender.py @@ -0,0 +1,17 @@ +import compas +compas.PRECISION = '12f' + +from compas.robots import * +from compas_blender.artists import RobotModelArtist + +r = 'ros-industrial/abb' +p = 'abb_irb6600_support' +b = 'kinetic-devel' + +github = GithubPackageMeshLoader(r, p, b) +urdf = github.load_urdf('irb6640.urdf') + +model = RobotModel.from_urdf_file(urdf) +model.load_geometry(github) + +RobotModelArtist(model).draw_visual() diff --git a/compas_fab/pull_394/_downloads/d7b36cf78806026db4bde5c6a1cf86aa/docker-compose.yml b/compas_fab/pull_394/_downloads/d7b36cf78806026db4bde5c6a1cf86aa/docker-compose.yml new file mode 100644 index 000000000..1e6c0c3de --- /dev/null +++ b/compas_fab/pull_394/_downloads/d7b36cf78806026db4bde5c6a1cf86aa/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - ur5e_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/dad24abf443d9480bac241fd876b365d/docker-compose.yml b/compas_fab/pull_394/_downloads/dad24abf443d9480bac241fd876b365d/docker-compose.yml new file mode 100644 index 000000000..baf8dcf8c --- /dev/null +++ b/compas_fab/pull_394/_downloads/dad24abf443d9480bac241fd876b365d/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - panda_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/e559eb1bb4cbd173cc90a7345a0abb9c/01_ros_hello_world_talker.py b/compas_fab/pull_394/_downloads/e559eb1bb4cbd173cc90a7345a0abb9c/01_ros_hello_world_talker.py new file mode 100644 index 000000000..f257fb86b --- /dev/null +++ b/compas_fab/pull_394/_downloads/e559eb1bb4cbd173cc90a7345a0abb9c/01_ros_hello_world_talker.py @@ -0,0 +1,16 @@ +import time + +from roslibpy import Message +from roslibpy import Topic + +from compas_fab.backends import RosClient + +with RosClient() as client: + talker = Topic(client, '/chatter', 'std_msgs/String') + + while client.is_connected: + talker.publish(Message({'data': 'Hello World!'})) + print('Sending message...') + time.sleep(1) + + talker.unadvertise() diff --git a/compas_fab/pull_394/_downloads/f900d64279a551782ce0c071d63838e5/docker-compose.yml b/compas_fab/pull_394/_downloads/f900d64279a551782ce0c071d63838e5/docker-compose.yml new file mode 100644 index 000000000..dbc54d83e --- /dev/null +++ b/compas_fab/pull_394/_downloads/f900d64279a551782ce0c071d63838e5/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - ur3e_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_downloads/fd8c5d555b959579cd2dc836aba41c39/docker-compose.yml b/compas_fab/pull_394/_downloads/fd8c5d555b959579cd2dc836aba41c39/docker-compose.yml new file mode 100644 index 000000000..29d50b112 --- /dev/null +++ b/compas_fab/pull_394/_downloads/fd8c5d555b959579cd2dc836aba41c39/docker-compose.yml @@ -0,0 +1,68 @@ +version: '2' +services: + moveit-demo: + image: gramaziokohler/ros-noetic-moveit + container_name: moveit-demo + environment: + - ROS_HOSTNAME=moveit-demo + - ROS_MASTER_URI=http://ros-core:11311 + # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line + # - DISPLAY=host.docker.internal:0.0 + # GUI Option 2: To use the web-based GUI, uncomment the following line + # - DISPLAY=gui:0.0 + depends_on: + - ros-core + # To use the web-based GUI, uncomment the following line + # - gui + command: + - roslaunch + - --wait + # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` + - abb_irb4600_40_255_moveit_config + - demo.launch + # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above + - use_rviz:=false + + ros-core: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-core + ports: + - "11311:11311" + command: + - roscore + + ros-bridge: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-bridge + environment: + - "ROS_HOSTNAME=ros-bridge" + - "ROS_MASTER_URI=http://ros-core:11311" + ports: + - "9090:9090" + depends_on: + - ros-core + command: + - roslaunch + - --wait + - rosbridge_server + - rosbridge_websocket.launch + + ros-fileserver: + image: gramaziokohler/ros-noetic-moveit + container_name: ros-fileserver + environment: + - ROS_HOSTNAME=ros-fileserver + - ROS_MASTER_URI=http://ros-core:11311 + depends_on: + - ros-core + command: + - roslaunch + - --wait + - file_server + - file_server.launch + + # To use the web-based GUI, uncomment the following lines + # gui: + # image: gramaziokohler/novnc:latest + # ports: + # - "8080:8080" diff --git a/compas_fab/pull_394/_images/00_robot_halfsphere.jpg b/compas_fab/pull_394/_images/00_robot_halfsphere.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c35ead84ef449693e55c4acd7a6a5c7691552064 GIT binary patch literal 176700 zcmeFZ1yoht+BUo>2@ym=X^@ca&P_;5r-X`hcT1Nd-Q5T%A>E>q(%s!5-LTpGYx6wk zIq{xz#(Vzv9p4z=_@3=p?zz^Ud#yR|Irn{E^SZCe&BVtZMiM|kKma1af56S+ z{TT^YGh+admj~zp06+tf5d;84uyhAJkqtHjkijwnSXN3+gTDiq0C2x^ix@x!uYqMi z7(4*tE$}}ycjaTnjz(b1Nlg~i%|S>Mp+jS;hfjTMWl zzAXzIGb;-q2ywO5H?S~rB!6RMVrDHwv)9l}LvCg$M5DaL(> 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