def RunScript(self, robot, visual_mesh, collision_mesh, tcf_plane):
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)
scene = PlanningScene(robot)
robot.attach_tool(tool)
scene.add_attached_tool()
return robot
def fixed_waam_setup():
HERE = os.path.dirname(__file__)
package_path = os.path.abspath(
os.path.join(HERE, "..", "..", "data", "robots", "abb_fixed_waam"))
urdf_filename = os.path.join(package_path, "urdf", "abb_fixed_waam.urdf")
srdf_filename = os.path.join(package_path, "srdf", "abb_fixed_waam.srdf")
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
tool_frame_robotA = Frame.from_euler_angles(
[0.591366, -0.000922, 1.570177],
static=True,
axes='xyz',
point=[-0.002241, -0.000202, 0.505922])
tool_mesh_robotA = Mesh.from_obj(
os.path.join(package_path, "meshes", "collision", "waam_tool.obj"))
robotA_tool = Tool(tool_mesh_robotA,
tool_frame_robotA,
collision=tool_mesh_robotA)
return urdf_filename, semantics, robotA_tool
import os
import time
from compas_fab.backends import RosClient
from compas_fab.robots import PlanningScene
from compas_fab.robots import Tool
HERE = os.path.dirname(__file__)
DATA = os.path.abspath(os.path.join(HERE, "..", "data"))
tool = Tool.from_json(os.path.join(DATA, "vacuum_gripper.json"))
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
# Attach the tool
robot.attach_tool(tool)
scene.add_attached_tool()
time.sleep(3)
# Remove the tool
scene.remove_attached_tool()
scene.remove_collision_mesh(tool.name)
robot.detach_tool()
time.sleep(1)
import os
from compas.geometry import Frame
from compas_fab.backends import RosClient
from compas_fab.robots import Configuration
from compas_fab.robots import Tool
HERE = os.path.dirname(__file__)
DATA = os.path.abspath(os.path.join(HERE, "..", "data"))
# create tool from json
filepath = os.path.join(DATA, "vacuum_gripper.json")
tool = Tool.from_json(filepath)
element_height = 0.014
safelevel_height = 0.05
with RosClient('localhost') as client:
robot = client.load_robot()
# 1. Set tool
robot.attach_tool(tool)
# 2. Define start configuration
start_configuration = Configuration.from_revolute_values(
[-5.961, 4.407, -2.265, 5.712, 1.571, -2.820])
# 3. Define frames
picking_frame = Frame([-0.43, 0, element_height], [1, 0, 0], [0, 1, 0])
safelevel_picking_frame = Frame(
[-0.43, 0, element_height + safelevel_height], [1, 0, 0], [0, 1, 0])
frames = [picking_frame, safelevel_picking_frame]
import time
from compas_fab.backends import RosClient
from compas_fab.robots import PlanningScene
from compas_fab.robots import Tool
from compas.datastructures import Mesh
from compas.geometry import Frame
HERE = os.path.dirname(__file__)
DATA = os.path.abspath(os.path.join(HERE, "..", "data"))
# create tool from mesh and frame
mesh = Mesh.from_stl(os.path.join(DATA, "vacuum_gripper.stl"))
frame = Frame([0.07, 0, 0], [0, 0, 1], [0, 1, 0])
tool = Tool(mesh, frame)
tool.to_json(os.path.join(DATA, "vacuum_gripper.json"))
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
robot.attach_tool(tool)
# add attached tool to planning scene
scene.add_attached_tool()
# now we can convert frames at robot's tool tip and flange
frames_tcf = [
Frame((-0.309, -0.046, -0.266), (0.276, 0.926, -0.256),
(0.879, -0.136, 0.456))
]
from compas.geometry import Frame
import compas_fab
from compas_fab.backends import RosClient
from compas_fab.robots import PlanningScene
from compas_fab.robots import Tool
with RosClient() as client:
robot = client.load_robot()
scene = PlanningScene(robot)
assert robot.name == 'ur5_robot'
# create collision object
mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
t1cf = Frame([0.14, 0, 0], [0, 0, 1], [0, 1, 0]) # TODO: check this frame!
tool = Tool(mesh, t1cf, name='tip')
scene.add_attached_tool(tool)
# sleep a bit before removing the tip
time.sleep(1)
# check if it's really there
planning_scene = robot.client.get_planning_scene()
acm = planning_scene.robot_state.attached_collision_objects
assert acm[0].object['id'].startswith('tip_')
scene.remove_attached_tool()
planning_scene = robot.client.get_planning_scene()
assert acm[0].object['id'] not in [c.object['id'] for c in planning_scene.robot_state.attached_collision_objects]