def robot_script():
sel_pt = rs.GetPoint("select point")
#1) Use 6 values
pose1 = urs.pose(sel_pt.X, sel_pt.Y, sel_pt.Z, 0, 0, 0)
#2) Use two tuples - vector and orientation
pose2_pos = (sel_pt.X, sel_pt.Y, sel_pt.Z + 0.15)
pose2 = urs.pose_by_vectors(pose2_pos, (0, 0, 0))
#3) Use a Rhino plane
plane3 = rg.Plane(sel_pt, rg.Vector3d.ZAxis)
pose3 = urs.pose_by_plane(plane3)
#4) Use an origin and 2 vectors - same as a plane
pose4_pos = (sel_pt.X, sel_pt.Y - 0.15, sel_pt.Z + 0.15)
pose4 = urs.pose_by_origin_axis(pose4_pos, (1, 0, 0), (0, 1, 0))
#5) Use a listened pose
pose5_vals = comm.listen(ip)['tool_pose']
pose5 = urs.pose(*pose5_vals)
#Create a list of statements
commands = []
poses = (pose1, pose2, pose3, pose4)
#Go through all poses
for i in range(len(poses)):
#Add a comment
commands.append(urs.comment("Movement {}".format(i)))
#Add a command
commands.append(urs.movel(poses[i]))
# return to pose 5 via movej
commands.append(urs.movej(pose5))
#3) Create a program using commands as argument
my_program = urs.create_function("main", commands)
return my_program
base [Generic Data] - A reference plane used as the basis for calculating target pose
acceleration (in, optional) [Generic Data] - Optional. Tool accel in m/s^2
velocity (in, optional) [Generic Data] - Optional. Tool speed in m/s
radius (in, optional) [Generic Data] - Optional. Blend radius in m
Returns:
out [Text] - The execution information, as output and error streams
a [Generic Data] - Script variable Python
"""
import scriptcontext as sc
import urscript as ur
import Rhino.Geometry as rg
from Grasshopper.Kernel import GH_RuntimeMessageLevel as gh_msg
error_inputs = []
if not target: error_inputs.append('target')
if not base: error_inputs.append('base')
if not error_inputs:
target_plane = rg.Plane(target)
accel = float(accel) if accel else 1.2
vel = float(vel) if vel else 0.3
blend = float(radius) if radius else 0.0
matrix = rg.Transform.PlaneToPlane(rg.Plane.WorldXY, base)
target_plane.Transform(matrix)
target_pose = ur.pose_by_plane(target_plane)
a = ur.movep(target_pose, accel, vel, blend)
else:
error_message = 'Failed to collect data for {0} required input(s): {1}'.format(
len(error_inputs), ','.join(error_inputs))
ghenv.Component.AddRuntimeMessage(gh_msg.Warning, error_message)
if not start: error_inputs.append('start')
if not end: error_inputs.append('end')
if not error_inputs:
cut_accel = float(accel) if accel else 0.01
cut_vel = float(vel) if vel else 0.0085
cut_blend = float(radius) if radius else 0.01
start_joints = [float(sj) for sj in start_joints]
end_joints = [float(ej) for ej in end_joints]
# Orient the cut planes with reference to robot base and create poses
matrix = rg.Transform.PlaneToPlane(rg.Plane.WorldXY, base)
print type(targets[0])
initial_cut_plane = rg.Plane(targets[0])
initial_cut_plane.Transform(matrix)
initial_cut_pose = ur.pose_by_plane(initial_cut_plane)
cut_planes = targets[1:]
[cp.Transform(matrix) for cp in cut_planes]
cut_poses = [ur.pose_by_plane(cp) for cp in cut_planes]
commands = ur.statements( #1) Approach start position
ur.movej(start_joints, 3.0, 3.0),
#2) Approach first cut pose
ur.movel(initial_cut_pose, 0.1, 0.1),
#3) Move through rest of cut poses
[ur.servoc(cp, cut_accel, cut_vel, cut_blend) for cp in cut_poses],
#4) Move to end position
ur.movej(end_joints, 0.1, 0.15))
a = commands
"""
Generate UR Script set_tcp (Tool Center Point) command
Vers:20140307
Input:
tool plane [Generic Data] - Plane that describes tool pose
Returns:
out [Text] - The execution information, as output and error streams
a [Generic Data] - Script variable Python
"""
import urscript as ur
from Grasshopper.Kernel import GH_RuntimeMessageLevel as gh_msg
if not plane:
ghenv.Component.AddRuntimeMessage(
gh_msg.Warning, 'Failed to collect data for required input: plane')
else:
tool_pose = ur.pose_by_plane(plane)
a = ur.set_tcp(tool_pose)