HERE = os.path.dirname(__file__) DATA = os.path.abspath(os.path.join(HERE, "..", "data")) PATH_FROM = os.path.join(DATA, 'stretcher_bond.json') ASSEMBLY_PATH = os.path.abspath(os.path.join(HERE, "..", "src")) sys.path.append(ASSEMBLY_PATH) #PATH_TO = os.path.join(DATA, os.path.splitext(os.path.basename(__file__))[0] + ".json") PATH_TO = os.path.join(DATA, 'stretcher_bond_interfaces.json') print(PATH_TO) from assembly_information_model.assembly import Assembly from assembly_information_model.assembly.interfaces_numpy import assembly_interfaces_numpy # parameters NMAX = 100 AMIN = 0.0001 # load assembly from JSON assembly = Assembly.from_json(PATH_FROM) # identify the interfaces assembly_interfaces_numpy(assembly, nmax=100, amin=0.0001) # serialise assembly.to_json(PATH_TO) print(list(assembly.network.edges()))
DATA = os.path.abspath(os.path.join(HERE, "..", "data")) PATH_FROM = os.path.join(DATA, 'stretcher_bond.json') ASSEMBLY_PATH = os.path.abspath(os.path.join(HERE, "..", "src")) sys.path.append(ASSEMBLY_PATH) #PATH_TO = os.path.join(DATA, os.path.splitext(os.path.basename(__file__))[0] + ".json") #print(PATH_TO) PATH_TO = os.path.join(DATA, 'stretcher_bond_interfaces.json') from assembly_information_model.assembly import Assembly from assembly_information_model.assembly.interfaces_numpy import assembly_interfaces_numpy_fromtojson # parameters NMAX = 100 AMIN = 0.0001 # load assembly from JSON # assembly = Assembly.from_json(PATH_FROM) # identify the interfaces assembly_interfaces_numpy_fromtojson(PATH_FROM, PATH_TO, nmax=100, amin=0.0001) # serialise # assembly.to_json(PATH_TO) assembly = Assembly.from_json(PATH_TO) print(list(assembly.network.edges()))
print(r'| \ \__/|__)\__/ | \__\__/| \| | | \ \__/|__ ')
print()
username = input_non_empty_string('Please enter your name: ')
filename = input_non_empty_string(
'Please enter the assembly file name [{}]: '.format(DEFAULT_FILENAME),
DEFAULT_FILENAME)
filepath = os.path.join(DATA, filename)
if not os.path.isfile(filepath):
raise FileNotFoundError('Could not file assembly json file: ' +
filepath)
# Load assembly
print('\n[ ] Loading assembly...', end='\r')
assembly = Assembly.from_json(filepath)
print('[OK] Assembly loaded: {} '.format(filename))
planned_elemement_keys = get_planned_element_keys(assembly)
print('[OK] Found {} planned elements out of {} total elements'.format(
len(planned_elemement_keys), assembly.number_of_elements()))
print('[OK] Planned sequence: {}'.format(planned_elemement_keys))
# Connect client
print('[ ] Connecting to ROS {}:{}'.format(args.ros_host,
int(args.ros_port)),
end='\r')
with RosClient(host=args.ros_host, port=int(args.ros_port)) as client:
print('[OK] Connected to ROS: \n')
# Start UI loop to send elements
tolerance_vector = Vector.from_data(data['tolerance_vector'])
safelevel_vector = Vector.from_data(data['safelevel_vector'])
safelevel_picking_frame = picking_frame.copy()
safelevel_picking_frame.point += safelevel_vector
picking_frame.point += tolerance_vector
# collision_meshes
scene_collision_meshes = [
CollisionMesh(Mesh.from_data(m), name)
for m, name in zip(data['collision_meshes'], data['collision_names'])
]
# load assembly from file or from existing if calculation failed at one point...
filepath = os.path.join(DATA, "assembly.json")
if LOAD_FROM_EXISTING and os.path.isfile(PATH_TO):
assembly = Assembly.from_json(PATH_TO)
else:
assembly = Assembly.from_json(filepath)
# create an attached collision mesh to be attached to the robot's end effector.
T = Transformation.from_frame_to_frame(element0._tool_frame, tool.frame)
element0_tool0 = element0.transformed(T)
attached_element_mesh = AttachedCollisionMesh(
CollisionMesh(element0_tool0.mesh, 'element'), 'ee_link')
# ==============================================================================
# From here on: fill in code, whereever you see this dots ...
# NOTE: If you run Docker Toolbox, change `localhost` to `192.168.99.100`
with RosClient('localhost') as client:
