def transfer_to_assembly(self):
from assembly_information_model.assembly import Element, Assembly
assembly = Assembly()
for my_layer in self.timberboards:
for my_board in my_layer:
# box_update only precaution
my_board.box_update()
assembly_board = Element.from_box(my_board.box)
assembly.add_element(assembly_board)
return assembly
def transfer_to_assembly():
from assembly_information_model.assembly import Element, Assembly
assembly = Assembly()
assembly.__init_subclass__()
assembly.something = 5
for my_layer in self.timberboards:
for my_board in my_layer:
# box_update only precaution
my_board.box_update()
assembly_board = Element.from_box(my_board.box)
assembly_board.something = 5
assembly.add_element(assembly_board, somethinsdg=12)
return assembly
element0 = Element.from_data(data['element0'])
# picking frame
picking_frame = Frame.from_data(data['picking_frame'])
# little tolerance to not 'crash' into collision objects
tolerance_vector = Vector.from_data(data['tolerance_vector'])
safelevel_vector = Vector.from_data(data['safelevel_vector'])
# define target frame
target_frame = Frame((0.325, 0.400, 0.006), (0.000, 1.000, 0.000),
(-1.000, 0.000, 0.000))
target_frame.point += tolerance_vector
# create Assembly with element at target_frame
assembly = Assembly()
T = Transformation.from_frame_to_frame(element0.frame, target_frame)
assembly.add_element(element0.transformed(T))
# Bring the element's mesh into the robot's tool0 frame
element_tool0 = element0.copy()
T = Transformation.from_frame_to_frame(element_tool0._tool_frame, tool.frame)
element_tool0.transform(T)
# define picking_configuration
picking_configuration = Configuration.from_data(data['picking_configuration'])
# define picking frame
picking_frame = Frame.from_data(data['picking_frame'])
picking_frame.point += tolerance_vector
# define safelevel frames 'above' the picking- and target frames
safelevel_picking_frame = picking_frame.copy()
bricks_in_course = BRICKS_PER_COURSE + (1 if half_brick_ends else 0)
for j in range(bricks_in_course):
first = j == 0
last = j == bricks_in_course - 1
is_half_brick = (first or last) and half_brick_ends
if is_half_brick:
if last:
T = Translation([dx - width / 2, 0, dy])
else:
T = Translation([dx - width / 2 - gap / 2, 0, dy])
e = halfbrick.transformed(T)
dx += width + gap / 2
else:
T = Translation([dx, 0, dy])
e = brick.transformed(T)
dx += length
#R = Rotation.from_axis_and_angle([0,0,1], 0.1*j, point=e.gripping_frame.point)
#e.transform(R)
assembly.add_element(e)
dx += gap
assembly.transform(Translation([length / 2, 0, 0]))
# 6. Save assembly to json
assembly.to_json(PATH_TO)
cft = cf.transformed(R * T) # transforms the origin plane
if i % 2 == 0:
R = Rotation.from_axis_and_angle(cft.zaxis,
math.radians(90),
point=cft.point)
cft = cft.transformed(R)
add = math.sin(i / 5) * 0.015
# print(add)
o1 = cft.point + cft.yaxis * (0.075 + add)
o2 = cft.point - cft.yaxis * (0.075 + add)
f1 = Frame(o1, cft.xaxis, cft.yaxis)
f2 = Frame(o2, cft.xaxis, cft.yaxis)
T1 = Transformation.from_frame_to_frame(Frame.worldXY(), f1)
T2 = Transformation.from_frame_to_frame(Frame.worldXY(), f2)
# create new instances of the element
# returns a deep copy of the initial element at the new location of the frame
new_elem_1 = element0.transformed(T1)
new_elem_2 = element0.transformed(T2)
assembly.add_element(new_elem_1)
assembly.add_element(new_elem_2)
assembly.to_json(os.path.join(DATA, "assembly.json"), pretty=True)
