def main():
rospy.init_node('simple_trolley_init_script', anonymous=True)
art = ArtApiHelper()
art.wait_for_api()
art.store_object_type(obj_type("mala_desticka", 0.0125, 0.06, 0.06))
art.store_object_type(
obj_type("Modry_kontejner", 0.14, 0.195, 0.075, container=True))
# delete all created programs
ph = art.get_program_headers()
if ph:
for h in ph:
art.program_clear_ro(h.id)
art.delete_program(h.id)
prog = Program()
prog.header.id = 1
prog.header.name = "Pick & Place"
pb = ProgramBlock()
pb.id = 1
pb.name = "Pick & Place"
pb.on_success = 1
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(polygon_item(1))
pb.items.append(place_item(2, ref_id=[1], on_success=3, on_failure=0))
pb.items.append(item(3, "GetReady", on_success=4, on_failure=0))
pb.items.append(polygon_item(4))
pb.items.append(place_item(5, ref_id=[4], on_success=6, on_failure=0))
pb.items.append(item(6, "GetReady", on_success=1, on_failure=0))
art.store_program(prog)
art.program_set_ro(prog.header.id)
def main(args):
rospy.init_node('simple_trolley_init_script', anonymous=True)
art = ArtApiHelper()
# art.wait_for_api()
# delete all created programs
ph = art.get_program_headers()
if ph:
for h in ph:
art.program_clear_ro(h.id)
art.delete_program(h.id)
# -------------------------------------------------------------------------------------------
# Training program 1
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 1
prog.header.name = "Trenink - oblast"
pb = ProgramBlock()
pb.id = 1
pb.name = "Zvedni ze stolu a poloz"
pb.on_success = 1
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(polygon_item(1))
pb.items.append(place_item(2, ref_id=[1], on_success=3, on_failure=0))
pb.items.append(item(3, "GetReady", on_success=4, on_failure=0))
pb.items.append(wait_item(4, ref_id=[2], on_success=1, on_failure=0))
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Training program 2
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 2
prog.header.name = "Trenink - podavac"
pb = ProgramBlock()
pb.id = 1
pb.name = "Zvedni z podavace a poloz"
pb.on_success = 1
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(feeder_item(1))
pb.items.append(place_item(2, ref_id=[1], on_success=3, on_failure=0))
pb.items.append(feeder_item(3, ref_id=[1]))
pb.items.append(place_item(4, ref_id=[3], on_success=5, on_failure=0))
pb.items.append(item(5, "GetReady", on_success=6, on_failure=0))
pb.items.append(wait_item(6, ref_id=[4], on_success=1, on_failure=0))
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Training program 3
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 3
prog.header.name = "Trenink - lepidlo"
pb = ProgramBlock()
pb.id = 1
pb.name = "Aplikace lepidla"
pb.on_success = 0
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(drill_item(1, on_success=1, on_failure=2, obj_type=[""]))
pb.items.append(item(2, "GetReady", on_success=3, on_failure=0))
pb.items.append(drill_item(3, on_success=3, on_failure=4, obj_type=[""]))
pb.items.append(item(4, "GetReady", on_success=0, on_failure=0))
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Training program 4
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 4
prog.header.name = "Trenink - inspekce"
pb = ProgramBlock()
pb.id = 1
pb.name = "Vizualni inspekce"
pb.on_success = 0
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(polygon_item(1))
pb.items.append(
visual_inspection_item(2, ref_id=[1], on_success=3, on_failure=5))
pb.items.append(
visual_inspection_item(3, ref_id=[1], on_success=4, on_failure=5))
pb.items.append(
place_item(4, ref_id=[1], on_success=1, on_failure=0, name="OK parts"))
pb.items.append(
place_item(5, ref_id=[1], on_success=1, on_failure=0,
name="NOK parts"))
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Training program 5
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 5
prog.header.name = "Trenink - krabice"
pb = ProgramBlock()
pb.id = 1
pb.name = "Polozeni do krabice"
pb.on_success = 0
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(polygon_item(1))
p = ProgramItem()
p.id = 2
p.type = "PlaceToContainer"
p.polygon.append(PolygonStamped())
p.object.append("")
p.on_success = 1
p.on_failure = 0
p.ref_id.append(1)
pb.items.append(p)
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Simplified trolley assembly: object types
# -------------------------------------------------------------------------------------------
art.store_object_type(obj_type("Spojka", 0.046, 0.046, 0.154))
art.store_object_type(
obj_type("Kratka_noha", 0.046, 0.046, 0.298, container=True))
art.store_object_type(obj_type("Dlouha_noha", 0.046, 0.046, 0.398))
art.store_object_type(
obj_type("Modry_kontejner", 0.1, 0.14, 0.08, container=True))
# -------------------------------------------------------------------------------------------
# Simplified trolley assembly: program
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 20
prog.header.name = "Montaz stolicky"
# --- left side of the trolley ------------------------------------------------------
pb = ProgramBlock()
pb.id = 1
pb.name = "Bocnice 1"
pb.on_success = 2
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(wait_item(2, on_failure=2))
# each side consists of four profiles (of two types)
pb.items.append(feeder_item(3, obj_type=""))
pb.items.append(place_item(4, ref_id=[3], on_failure=4))
pb.items.append(feeder_item(5, ref_id=[3]))
pb.items.append(place_item(6, ref_id=[5], on_failure=6))
pb.items.append(feeder_item(7, obj_type=""))
pb.items.append(place_item(8, ref_id=[7], on_failure=8))
pb.items.append(feeder_item(9, ref_id=[7]))
pb.items.append(place_item(10, ref_id=[9], on_failure=10))
# after p&p, let's drill holes
pb.items.append(drill_item(11, on_success=11, on_failure=13,
obj_type=[""]))
pb.items.append(item(13, "GetReady", on_success=0, on_failure=13))
# --- right side of the trolley ------------------------------------------------------
pb = deepcopy(pb)
pb.id = 2
pb.name = "Bocnice 2"
pb.on_success = 3
pb.on_failure = 0
prog.blocks.append(pb)
# --- connecting profiles ------------------------------------------------------------
pb = ProgramBlock()
pb.id = 3
pb.name = "Spojovaci dily"
pb.on_success = 1
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(wait_item(1, on_success=10, on_failure=1))
pb.items.append(feeder_item(10, obj_type=""))
pb.items.append(place_item(11, ref_id=[10], on_failure=11))
pb.items.append(feeder_item(12, ref_id=[10]))
pb.items.append(place_item(13, ref_id=[12], on_failure=13))
pb.items.append(feeder_item(14, ref_id=[10]))
pb.items.append(place_item(15, ref_id=[14], on_failure=15))
pb.items.append(feeder_item(16, ref_id=[10]))
pb.items.append(place_item(17, ref_id=[16], on_failure=17))
pb.items.append(item(18, "GetReady", on_success=0, on_failure=18))
art.store_program(prog)
art.program_set_ro(prog.header.id)
def main(args):
rospy.init_node('simple_trolley_init_script', anonymous=True)
art = ArtApiHelper()
# art.wait_for_api()
# delete all created programs
ph = art.get_program_headers()
if ph:
for h in ph:
art.program_clear_ro(h.id)
art.delete_program(h.id)
# -------------------------------------------------------------------------------------------
# Training program 1
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 1
prog.header.name = "Training - polygon"
pb = ProgramBlock()
pb.id = 1
pb.name = "Pick from table and place"
pb.on_success = 1
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(polygon_item(1))
pb.items.append(place_item(2, ref_id=[1], on_success=3, on_failure=0))
pb.items.append(item(3, "GetReady", on_success=4, on_failure=0))
pb.items.append(wait_item(4, ref_id=[2], on_success=1, on_failure=0))
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Training program 2
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 2
prog.header.name = "Training - feeder"
pb = ProgramBlock()
pb.id = 1
pb.name = "Pick from feeder and place"
pb.on_success = 1
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(feeder_item(1))
pb.items.append(place_item(2, ref_id=[1], on_success=3, on_failure=0))
pb.items.append(feeder_item(3, ref_id=[1]))
pb.items.append(place_item(4, ref_id=[3], on_success=5, on_failure=0))
pb.items.append(item(5, "GetReady", on_success=6, on_failure=0))
pb.items.append(wait_item(6, ref_id=[4], on_success=1, on_failure=0))
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Training program 3
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 3
prog.header.name = "Training - glue"
pb = ProgramBlock()
pb.id = 1
pb.name = "Glue application"
pb.on_success = 0
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(drill_item(1, on_success=1, on_failure=2, obj_type=[""]))
pb.items.append(item(2, "GetReady", on_success=3, on_failure=0))
pb.items.append(drill_item(3, on_success=3, on_failure=4, obj_type=[""]))
pb.items.append(item(4, "GetReady", on_success=0, on_failure=0))
art.store_program(prog)
art.program_set_ro(prog.header.id)
# -------------------------------------------------------------------------------------------
# Simplified trolley assembly: object types
# -------------------------------------------------------------------------------------------
art.store_object_type(obj_type("Stretcher", 0.046, 0.046, 0.154))
art.store_object_type(obj_type("ShortLeg", 0.046, 0.046, 0.298))
art.store_object_type(obj_type("LongLeg", 0.046, 0.046, 0.398))
# -------------------------------------------------------------------------------------------
# Simplified trolley assembly: program
# -------------------------------------------------------------------------------------------
prog = Program()
prog.header.id = 4
prog.header.name = "Stool assembly"
# --- left side of the trolley ------------------------------------------------------
pb = ProgramBlock()
pb.id = 1
pb.name = "Side 1"
pb.on_success = 2
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(wait_item(2, on_failure=2))
# each side consists of four profiles (of two types)
pb.items.append(feeder_item(3, obj_type=""))
pb.items.append(place_item(4, ref_id=[3], on_failure=4))
pb.items.append(feeder_item(5, ref_id=[3]))
pb.items.append(place_item(6, ref_id=[5], on_failure=6))
pb.items.append(feeder_item(7, obj_type=""))
pb.items.append(place_item(8, ref_id=[7], on_failure=8))
pb.items.append(feeder_item(9, ref_id=[7]))
pb.items.append(place_item(10, ref_id=[9], on_failure=10))
# after p&p, let's drill holes
pb.items.append(drill_item(11, on_success=11, on_failure=13,
obj_type=[""]))
pb.items.append(item(13, "GetReady", on_success=0, on_failure=13))
# --- right side of the trolley ------------------------------------------------------
pb = deepcopy(pb)
pb.id = 2
pb.name = "Side 2"
pb.on_success = 3
pb.on_failure = 0
prog.blocks.append(pb)
# --- connecting profiles ------------------------------------------------------------
pb = ProgramBlock()
pb.id = 3
pb.name = "Stretchers"
pb.on_success = 1
pb.on_failure = 0
prog.blocks.append(pb)
pb.items.append(wait_item(1, on_success=10, on_failure=1))
pb.items.append(feeder_item(10, obj_type=""))
pb.items.append(place_item(11, ref_id=[10], on_failure=11))
pb.items.append(feeder_item(12, ref_id=[10]))
pb.items.append(place_item(13, ref_id=[12], on_failure=13))
pb.items.append(feeder_item(14, ref_id=[10]))
pb.items.append(place_item(15, ref_id=[14], on_failure=15))
pb.items.append(feeder_item(16, ref_id=[10]))
pb.items.append(place_item(17, ref_id=[16], on_failure=17))
pb.items.append(item(18, "GetReady", on_success=0, on_failure=18))
art.store_program(prog)
art.program_set_ro(prog.header.id)
