def set_robot_pose(self, robot, frame):
"""Moves the robot to a given pose, specified as a frame.
Args:
robot (:class:`compas_fab.robots.Robot`): Robot instance to move.
frame (:class:`Frame`): Target or goal frame.
Returns:
An instance of :class:`Configuration` found for the given pose.
"""
assert_robot(robot)
# First check if the start state is reachable
joints = len(robot.get_configurable_joints())
options = {
'num_joints': joints,
'metric_values': [0.] * joints,
}
config = self.inverse_kinematics(robot,
frame,
group=robot.model.attr['index'],
options=options)[-1]
if not config:
raise ValueError('Cannot find a valid config for the given pose')
self.set_robot_config(robot, config)
return config
def set_robot_config(self, robot, config):
"""Moves the robot to the specified configuration.
Args:
robot (:class:`compas_fab.robots.Robot`): Robot instance to move.
config (:class:`Configuration` instance): Describes the position of the
robot as an instance of :class:`Configuration`.
Examples:
>>> from compas_fab.robots import *
>>> with VrepClient() as client:
... config = Configuration.from_prismatic_and_revolute_values([7.600, -4.500, -5.500],
... to_radians([90, 0, 0, 0, 0, -90]))
... client.set_robot_config(rfl.Robot('A'), config)
...
"""
assert_robot(robot)
if not config:
raise ValueError('Unsupported config value')
values = config_to_vrep(config, self.scale)
self.set_robot_metric(robot.model.attr['index'],
[0.0] * len(config.values))
self.run_child_script('moveRobotFK', [], values,
['robot' + robot.name])
def pick_building_member(self,
robot,
building_member_mesh,
pickup_frame,
metric_values=None):
"""Picks up a building member and attaches it to the robot.
Args:
robot (:class:`compas_fab.robots.Robot`): Robot instance to use for pick up.
building_member_mesh (:class:`compas.datastructures.Mesh`): Mesh
of the building member that will be attached to the robot.
pickup_frame (:class:`Frame`): Pickup frame.
metric_values (:obj:`list` of :obj:`float`): List containing one value
per configurable joint. Each value ranges from 0 to 1,
where 1 indicates the axis/joint is blocked and cannot
move during inverse kinematic solving.
Returns:
int: Object handle (identifier) assigned to the building member.
"""
assert_robot(robot)
joints = len(robot.get_configurable_joints())
if not metric_values:
metric_values = [0.1] * joints
self.client.set_robot_pose(robot, pickup_frame)
return self.add_attached_collision_mesh(
building_member_mesh, options={'robot_name': robot.name})
def get_robot_config(self, robot):
"""Gets the current configuration of the specified robot.
Args:
robot (:class:`compas_fab.robots.Robot`): Robot instance.
Examples:
>>> from compas_fab.robots import *
>>> with VrepClient() as client:
... config = client.get_robot_config(rfl.Robot('A'))
Returns:
An instance of :class:`.Configuration`.
"""
assert_robot(robot)
_res, _, config, _, _ = self.run_child_script(
'getRobotState', [robot.model.attr['index']], [], [])
return config_from_vrep(config, self.scale)