import os from assembly import Assembly from assembly.rhino import AssemblyArtist HERE = os.path.dirname(__file__) DATA = os.path.abspath(os.path.join(HERE, "data")) filepath = os.path.join(DATA, 'flemish_bond.json') assembly = Assembly.from_json(filepath) artist = AssemblyArtist(assembly, layer='COMPAS::Assembly') artist.clear_layer() artist.draw()
savelevel_picking_frame = picking_frame.copy() savelevel_picking_frame.point += savelevel_vector picking_frame.point += tolerance_vector # create tool from json filepath = os.path.join(DATA, "vacuum_gripper.json") tool = Tool.from_json(filepath) # load assembly from file filepath = os.path.join(DATA, '048_flemish_bond.json') # load from existing if calculation failed at one point... clear_planning_scene = True if os.path.isfile(PATH_TO): assembly = Assembly.from_json(PATH_TO) clear_planning_scene = False 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(brick.gripping_frame, tool.frame) brick_tool0 = brick.transformed(T) attached_brick_mesh = AttachedCollisionMesh( CollisionMesh(brick_tool0.mesh, 'brick'), 'ee_link') # ============================================================================== # From here on: fill in code, whereever you see this dots ... def plan_picking_motion(robot, picking_frame, savelevel_picking_frame,